A method, device, medium and equipment for monitoring lower limb force line

Abstract

The present invention discloses a method, device, medium and equipment for monitoring force lines of lower limbs, and the method comprises the following steps: generating a target detection action corresponding to a target object; generating a prompt instruction to drive the target object to complete the corresponding continuous lower limb joint movement according to the target detection action; obtaining spatial position data respectively sent by a first sensing device and a second sensing device during the continuous lower limb joint movement; calculating a first distance of the knee joint center relative to the femoral head center, a second distance of the ankle joint center relative to the femoral head center, and a third distance of the ankle joint center relative to the knee joint center according to the spatial position data, and calculating the knee valgus angle of the target object. The present invention can monitor the force lines of lower limbs and the deviation angle of the force lines of lower limbs in real time, without the need for traditional complex clinical measurement devices, and is not only highly accurate and safe to use, but also simple to operate and easy to use.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a method, device, medium and equipment for monitoring lower limb force lines. Background Art

[0002] The force line of the lower limb generally refers to the straight line from the center point of the femoral head to the center point of the ankle joint, which represents the mechanical conduction line of the normal human lower limb when in the weight-bearing position. The state of the force line of the lower limb is of great significance to the load distribution and motor function of the knee joint. Poor force line of the lower limb often leads to joint pain, dysfunction, and even osteoarthritis. The measurement of the force line of the lower limb is extremely important for the preoperative diagnosis, treatment, preoperative planning, and postoperative rehabilitation of the disease, especially in orthopedic surgeries of the lower limbs such as high tibial osteotomy and total knee replacement. The correction of the force line of the lower limb can also prevent and delay the occurrence and development of diseases such as osteoarthritis.

[0003] At present, the method of taking full-length films of the lower limbs of the test object by CT or X-ray and establishing a lower limb bone model is usually used to reconstruct the three-dimensional model through the image to determine the lower limb force line. Although this method is relatively accurate, the operation process is relatively cumbersome, requiring CT, X-ray and other resources and relying on radiation diagnosis and treatment equipment, and can only reflect the static state, not real-time dynamic monitoring. For people who need long-term dynamic monitoring, there is an urgent need for a device that can display their limb posture in real time. Summary of the invention

[0004] The present invention provides a method, device, medium and equipment for monitoring lower limb force lines, which solve the above-mentioned technical problems.

[0005] A first aspect of an embodiment of the present invention provides a method for monitoring lower limb force lines, wherein a first sensing device is provided at a knee joint of a target object, and a second sensing device is provided at an ankle joint, and the method comprises the following steps:

[0006] Step 1, generating a target detection action corresponding to the target object, wherein the target detection action includes a first type of action with the hip joint as the axis and a second type of action with the knee joint as the axis, the first type of action includes a first target body position action and / or a first target walking action, and the second type of action includes a second target body position action and / or a second target walking action;

[0007] Step 2, generating a prompt instruction to drive the target object to complete the corresponding continuous lower limb joint movement according to the target detection action;

[0008] Step 3, acquiring spatial position data respectively sent by the first sensing device and the second sensing device during continuous lower limb joint movement;

[0009] Step 4, calculating a first distance between the center of the knee joint and the center of the femoral head, a second distance between the center of the ankle joint and the center of the femoral head, and a third distance between the center of the ankle joint and the center of the knee joint according to the spatial position data;

[0010] Step 5: Calculate the valgus and valgus angles of the knee joint of the target object according to the first distance, the second distance, and the third distance.

[0011] A second aspect of an embodiment of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the lower limb force line monitoring method described above.

[0012] A third aspect of an embodiment of the present invention provides a lower limb force line monitoring device, comprising a computer-readable storage medium and a processor, wherein the processor implements the steps of the above-mentioned lower limb force line monitoring method when executing a computer program on the computer-readable storage medium.

[0013] A fourth aspect of an embodiment of the present invention provides a lower limb force line monitoring device, wherein a first sensing device is provided at a knee joint of a target object, and a second sensing device is provided at an ankle joint. The lower limb force line monitoring device comprises an action generation module, an instruction generation module, a data acquisition module, a first calculation module, and a second calculation module.

[0014] The action generation module is used to generate a target detection action corresponding to the target object, the target detection action includes a first type of action with the hip joint as the axis and a second type of action with the knee joint as the axis, the first type of action includes a first target body position action and / or a first target walking action, and the second type of action includes a second target body position action and / or a second target walking action;

[0015] The instruction generation module is used to generate prompt instructions to drive the target object to complete the corresponding continuous lower limb joint movement according to the target detection action;

[0016] The data acquisition module is used to acquire the spatial position data respectively sent by the first sensing device and the second sensing device during the continuous lower limb joint movement;

[0017] The first calculation module is used to calculate a first distance between the knee joint center and the femoral head center, a second distance between the ankle joint center and the femoral head center, and a third distance between the ankle joint center and the knee joint center according to the spatial position data;

[0018] The second calculation module is used to calculate the valgus and valgus angle of the knee joint of the target object according to the first distance, the second distance and the third distance.

[0019] The present invention provides a method, device, medium and equipment for monitoring the force line of lower limbs. The method calculates the distances between the center points of the femoral head, the knee joint and the ankle joint through motion detection data of sensors such as gyroscopes, accelerometers and gravity sensors, thereby monitoring the force line of lower limbs and the deviation angle of the force line of lower limbs in real time. It does not require traditional complex clinical measuring devices, and is not only highly accurate and safe to use, but also simple to operate and easy to use.

[0020] In order to make the above-mentioned objects, features and advantages of the invention more obvious and easy to understand, the preferred embodiments of the present invention are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 is a schematic flow chart of the lower limb force line monitoring method provided in Example 1;

[0023] Figure 2 is a schematic diagram of the movement of the sensing device in Example 1;

[0024] Figure 3 is a skeleton diagram of knee varus in Example 1;

[0025] Figure 4 is a schematic structural diagram of a lower limb force line monitoring device provided in Example 2;

[0026] Figure 5 It is a structural schematic diagram of the lower limb force line monitoring device provided in Example 3. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0028] It should be noted that, if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, all within the scope of protection of the present invention. In addition, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order from the module division in the device or the flow chart. Furthermore, the words "first", "second", "third", etc. used in the present invention do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0029] Figure 1 FIG. 1 is a flow chart of a method for monitoring lower limb force lines provided in Example 1. Figure 1 As shown, the following steps are included:

[0030] Step 1, generating target detection actions corresponding to the target object;

[0031] Step 2, generating a prompt instruction to drive the target object to complete the corresponding continuous lower limb joint movement according to the target detection action;

[0032] Step 3, acquiring spatial position data respectively sent by the first sensing device and the second sensing device during continuous lower limb joint movement;

[0033] Step 4, calculating a first distance between the center of the knee joint and the center of the femoral head, a second distance between the center of the ankle joint and the center of the femoral head, and a third distance between the center of the ankle joint and the center of the knee joint according to the spatial position data;

[0034] Step 5: Calculate the valgus and valgus angles of the knee joint of the target object according to the first distance, the second distance, and the third distance.

[0035] The above embodiment provides a method for monitoring the force line of the lower limbs, which calculates the distance between the center points of the femoral head, the knee joint and the ankle joint through motion detection data from sensors such as gyroscopes, accelerometers and gravity sensors, thereby monitoring the force line of the lower limbs and the deviation angle of the force line of the lower limbs in real time. It does not require traditional complex clinical measuring devices, and is not only highly accurate and safe to use, but also simple to operate and easy to use.

[0036] The above steps are described in detail below through specific embodiments.

[0037] First, generate a target detection action corresponding to the target object. The target detection action here includes a first type of action with the hip joint as the axis and a second type of action with the knee joint as the axis. The first type of action and the second type of action are not limited to a fixed position action. For example, the first type of action includes a first target position action and / or a first target walking action, such as straightening and fixing the knee joint, and performing lower limb movements with the hip joint as the axis. The second type of action can also include a second target position action and / or a second target walking action, such as fixing the hip joint, flexing and extending the knee joint, and other actions.

[0038] In a specific embodiment, the target detection action corresponding to the target object generated in step 1 is specifically:

[0039] S101, collect historical data, and establish an action library based on the historical data, wherein the action library includes detection action sets corresponding to different degrees of inward and outward valgus of the knee joint, each detection action set includes the first category of actions and the second category of actions, the first category of actions and the second category of actions respectively include at least one preset body position action and / or at least one preset walking action, each preset body position action or each preset walking action has a corresponding motion parameter value, including motion speed, motion angle or motion amplitude, etc. In a specific embodiment, whether it is the first category of actions or the second category of actions, by setting the motion parameters, it is necessary to ensure that during the execution of the corresponding preset body position action or preset walking action, the line connecting the center of the femoral head with the first sensing device and the line connecting the inner and outer sides of the knee joint form a right angle; or the line connecting the center of the femoral head with the second sensing device and the line connecting the inner and outer sides of the ankle joint form a right angle; or the line connecting the center of the knee joint with the second sensing device and the line connecting the inner and outer sides of the ankle joint form a right angle, thereby forming three right triangles and using the Pythagorean theorem to calculate the subsequent first distance, second distance and third distance.

[0040] Then, S102 is executed to obtain a preliminary observation result of the internal and external valgus of the target object's knee joint;

[0041] S103, querying the action library according to the preliminary observation results of inside-out eversion and outside-in eversion, and generating the target detection action corresponding to the target object. In the specific implementation process, multiple target actions can be selected from the corresponding detection action set according to the personal information of the target object, such as height, age, and occupation, and integrated to generate the target detection action of the target object, that is, a set of continuous target body position actions, or a set of continuous target walking actions, or a combination of continuous target body position actions and target walking actions, so as to measure the force line state of the lower limbs of the target object in various postures and obtain more accurate monitoring results.

[0042] Then execute steps 2 and 3 to generate prompt instructions, such as voice and video instructions, to drive the target object step by step to complete the corresponding continuous lower limb joint movement according to the target detection action, and obtain the spatial position data sent by the first sensing device and the second sensing device respectively during the continuous lower limb joint movement. The spatial position data includes the position change values ​​and angle change values ​​corresponding to the first sensing device and the second sensing device respectively during the target object completes the continuous lower limb joint movement.

[0043] In a specific embodiment, the first sensing device and the second sensing device include one or more of a gyroscope, an accelerometer, and a gravity sensor, or are an integration of the above multiple sensors, and the first sensing device and the second sensing device are fixed to a limb, such as the inner or outer side of the knee joint and the inner or outer side of the ankle joint, so as to record the spatial position change information of the corresponding position. The specific fixing method can be to use a strap to bind and fix to the limb, or to fix to the brace through a corresponding buckle, so that the above sensing device is set horizontally with the knee joint line and the ankle joint line.

[0044] In the specific implementation process, the above-mentioned target detection action may only include one first-type action and one second-type action. For example, the first-type action is first performed: straighten and fix the knee joint, and move the lower limbs with the hip joint as the axis, so as to calculate the first rotation distance of the first sensing device relative to the center of the femoral head and the second rotation distance of the second sensing device relative to the center of the femoral head according to the corresponding spatial position data. Then, the second-type action is performed: fix the hip joint, flex and extend the knee joint, so as to calculate the third rotation distance of the second sensing device relative to the center of the knee joint according to the corresponding spatial position data.

[0045] In a more preferred embodiment, the target detection action may include multiple continuous first-type actions and second-type actions, such as repeatedly executing a certain action and adjusting the corresponding motion parameters during the execution process, so as to obtain more accurate monitoring results. In a preferred embodiment, the spatial position data respectively sent by the first sensing device and the second sensing device during the continuous lower limb joint movement are obtained, specifically:

[0046] S301, monitoring the real-time posture of the target object completing the continuous lower limb joint movement, determining a first optimal posture corresponding to the first type of movement and a second optimal posture corresponding to the second type of movement, and marking the corresponding movement time;

[0047] S302, obtaining the spatial position data respectively sent by the first sensing device and the second sensing device, and filtering all the spatial position data according to the action time, generating first target spatial position data corresponding to the first type of action and second target spatial position data corresponding to the second type of action, so as to accurately perform subsequent calculations.

[0048] In another preferred embodiment, the acquisition of the spatial position data respectively sent by the first sensing device and the second sensing device during the continuous lower limb joint movement is specifically:

[0049] S303, identifying the real-time posture of the target object completing the continuous lower limb joint movement, and marking each lower limb joint movement in the process of the continuous lower limb joint movement according to the action type;

[0050] S304, filtering and sorting the spatial position data sent by the first sensing device and the second sensing device, and generating spatial position data corresponding to each lower limb joint movement according to the marking results;

[0051] S305, establishing a spatial position data set corresponding to the same lower limb joint movement, and processing at least one spatial position data in the spatial position data set to generate preferred spatial position data corresponding to each lower limb joint movement;

[0052] S306, generating first target spatial position data corresponding to the first type of action and second target spatial position data corresponding to the second type of action based on at least one preferred spatial position data corresponding to the first type of action and at least one preferred spatial position data corresponding to the second type of action, so as to accurately perform subsequent calculations.

[0053] Then execute step 4 to calculate the first distance of the knee joint center relative to the femoral head center, the second distance of the ankle joint center relative to the femoral head center, and the third distance of the ankle joint center relative to the knee joint center based on the spatial position data.

[0054] Figure 2 It is a schematic diagram of the motion process of the sensing device. Figure 2As shown, when the sensing device fixed on the inner / outer side of the knee joint or the inner / outer side of the ankle joint rotates around the center O (i.e., the center of the femoral head or the center of the knee joint), if the sensing device moves from position P1 to position P2, the length of arc a, i.e., the position change value of the sensing device, can be calculated based on the double integral of the accelerometer over time; the angle change θ, i.e., the angle change value of the sensing device, can be obtained based on the gyroscope data, and then the rotation radius r can be calculated. For this embodiment, the first rotation distance of the first sensing device relative to the center of the femoral head, the second rotation distance of the second sensing device relative to the center of the femoral head, and the third rotation distance of the second sensing device relative to the center of the knee joint can be calculated.

[0055] Then, according to the first rotation distance, the second rotation distance and the third rotation distance, a first distance of the knee joint center relative to the femoral head center, a second distance of the ankle joint center relative to the femoral head center and a third distance of the ankle joint center relative to the knee joint center are calculated, which specifically includes the following steps:

[0056] S401, collecting the medial and lateral widths of the knee joint and the medial and lateral widths of the ankle joint of the target object. In a specific embodiment, the target object is asked to stand or lie on its back, and the distance between the medial and lateral sensing devices or the medial and lateral widths can be obtained by directly measuring the medial and lateral widths.

[0057] S402, calculating the first distance of the knee joint center relative to the femoral head center according to the medial and lateral width of the knee joint and the first rotation distance, calculating the second distance of the ankle joint center relative to the femoral head center according to the medial and lateral width of the ankle joint and the second rotation distance, and calculating the third distance of the ankle joint center relative to the knee joint center according to the medial and lateral width of the ankle joint and the third rotation distance, such as Figure 3 The calculation formula is as follows:

[0058] The first distance between the center of the knee joint and the center of the femoral head ;

[0059] The second distance between the center of the ankle joint and the center of the femoral head ;

[0060] The third distance between the center of the ankle joint and the center of the knee joint ;

[0061] Among them, L1 is the medial and lateral width of the knee joint, L2 is the medial and lateral width of the ankle joint, a1 is the first rotation distance, b1 is the second rotation distance, and b2 is the third rotation distance.

[0062] Finally, step 5 can be executed to calculate the valgus and valgus angle of the knee joint of the target object according to the first distance, the second distance and the third distance, specifically:

[0063] S501, generating a fourth distance, where the fourth distance is the sum of the first distance and the third distance;

[0064] S502, calculating the difference between the second distance and the fourth distance, and determining whether the difference is within a preset interval. If so, determining that the force line of the lower limb of the target object is centered. For example, if L F +L T =L M Then it is determined that the force line of the lower limb of the target object is centered. Otherwise, the valgus and valgus angles of the knee joint of the target object are calculated according to the first distance, the second distance and the third distance.

[0065] Specifically, determine the line connecting the center of the femoral head and the center of the knee joint (i.e. the straight line of the first distance) and the line connecting the center of the femoral head and the center of the ankle joint (i.e. the straight line of the second distance). The valgus angle of the knee joint is the angle between these two lines, which can be calculated according to the cosine theorem, namely: , where α is the valgus angle of the knee joint.

[0066] It should be understood that the size of the sequence number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention. At the same time, the methods of the above embodiments can also be used to monitor the upper limb force line, such as setting a first sensing device and a second sensing device at the elbow joint and the wrist respectively, and measuring the upper limb force line and the deviation of the upper limb force line through the real-time detection data of the first sensing device and the second sensing device. The specific technical scheme is similar to the scheme for monitoring the lower limb force line, and is within the protection scope of the present invention, and will not be described in detail here.

[0067] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the above-mentioned lower limb force line monitoring method is implemented.

[0068] Figure 4 is a schematic diagram of the structure of the lower limb force line monitoring device provided in Example 2. Figure 4 As shown, the device includes an action generation module 100, an instruction generation module 200, a data acquisition module 300, a first calculation module 400 and a second calculation module 500.

[0069] The action generation module 100 is used to generate a target detection action corresponding to the target object, the target detection action includes a first type of action with the hip joint as the axis and a second type of action with the knee joint as the axis, the first type of action includes a first target body position action and / or a first target walking action, and the second type of action includes a second target body position action and / or a second target walking action;

[0070] The instruction generation module 200 is used to generate prompt instructions to drive the target object to complete the corresponding continuous lower limb joint movement according to the target detection action;

[0071] The data acquisition module 300 is used to acquire the spatial position data respectively sent by the first sensing device and the second sensing device during the continuous lower limb joint movement;

[0072] The first calculation module 400 is used to calculate a first distance between the center of the knee joint and the center of the femoral head, a second distance between the center of the ankle joint and the center of the femoral head, and a third distance between the center of the ankle joint and the center of the knee joint according to the spatial position data;

[0073] The second calculation module 500 is used to calculate the valgus and valgus angle of the knee joint of the target object according to the first distance, the second distance and the third distance.

[0074] In a preferred embodiment, the action generation module 100 specifically includes:

[0075] a data collection unit, for collecting historical data, and establishing an action library according to the historical data, wherein the action library includes detection action sets corresponding to different degrees of inward and outward valgus of the knee joint, each detection action set includes the first type of action and the second type of action, the first type of action and the second type of action respectively include at least one preset body position action and / or at least one preset walking action, and each preset body position action or each preset walking action has a corresponding motion parameter value;

[0076] A first acquisition unit is used to acquire a preliminary observation result of the inside-outside valgus of the target object's knee joint;

[0077] A query unit is used to query the action library according to the preliminary inside-outside-out observation result to generate a target detection action corresponding to the target object.

[0078] In a preferred embodiment, the first sensing device and the second sensing device include a gyroscope, an accelerometer and / or a gravity sensor, and the spatial position data include the position change value and angle change value corresponding to the first sensing device and the second sensing device respectively when the target object completes the continuous lower limb joint movement.

[0079] In a preferred embodiment, the data acquisition module 300 specifically includes:

[0080] a first recognition unit, configured to monitor the real-time posture of the target object completing the continuous lower limb joint movement, determine a first optimal posture corresponding to the first type of movement and a second optimal posture corresponding to the second type of movement, and mark the corresponding movement time;

[0081] The first screening unit is used to obtain the spatial position data respectively sent by the first sensing device and the second sensing device, and screen all the spatial position data according to the action time to generate first target spatial position data corresponding to the first type of action and second target spatial position data corresponding to the second type of action.

[0082] In another preferred embodiment, the data acquisition module 300 specifically includes:

[0083] A second recognition unit is used to recognize the real-time posture of the target object completing the continuous lower limb joint movement, and mark each lower limb joint movement in the process of the continuous lower limb joint movement according to the action type;

[0084] A second screening unit is used to screen and sort the spatial position data sent by the first sensing device and the second sensing device, and generate spatial position data corresponding to each lower limb joint movement according to the marking results;

[0085] A first data processing unit is used to establish a spatial position data set corresponding to the same lower limb joint movement, and process at least one spatial position data in the spatial position data set to generate preferred spatial position data corresponding to each lower limb joint movement;

[0086] The second data processing unit is used to generate first target spatial position data corresponding to the first type of action and second target spatial position data corresponding to the second type of action based on at least one preferred spatial position data corresponding to the first type of action and at least one preferred spatial position data corresponding to the second type of action.

[0087] In a preferred embodiment, the first calculation module 400 specifically includes:

[0088] A second acquisition unit is used to calculate a first rotation distance of the first sensing device relative to the center of the femoral head, a second rotation distance of the second sensing device relative to the center of the femoral head, and a third rotation distance of the second sensing device relative to the center of the knee joint according to the spatial position data;

[0089] A third acquisition unit is used to acquire the medial and lateral widths of the knee joint and the medial and lateral widths of the ankle joint of the target object;

[0090] The first calculation unit is used to calculate the first distance of the knee joint center relative to the femoral head center based on the medial-lateral width of the knee joint and the first rotation distance, calculate the second distance of the ankle joint center relative to the femoral head center based on the medial-lateral width of the ankle joint and the second rotation distance, and calculate the third distance of the ankle joint center relative to the knee joint center based on the medial-lateral width of the ankle joint and the third rotation distance.

[0091] In another preferred embodiment, the second calculation module 500 specifically includes:

[0092] A second calculation unit, configured to generate a fourth distance, where the fourth distance is the sum of the first distance and the third distance;

[0093] The third calculation unit is used to calculate the difference between the second distance and the fourth distance, and determine whether the difference is in a preset interval. If so, it is determined that the lower limb force line of the target object is centered; otherwise, the knee valgus angle of the target object is calculated based on the first distance, the second distance and the third distance.

[0094] The above embodiments provide a lower limb force line monitoring device, which can monitor the lower limb force line and the lower limb force line deviation angle in real time without the need for traditional complex clinical measurement devices. It is not only highly accurate and safe to use, but also simple to operate and easy to use.

[0095] An embodiment of the present invention further provides a lower limb force line monitoring device, comprising a computer-readable storage medium and a processor, wherein the processor implements the steps of the above-mentioned lower limb force line monitoring method when executing a computer program on the computer-readable storage medium.

[0096] Figure 5 is a schematic diagram of the structure of the lower limb force line monitoring device provided in Example 3 of the present invention, such as Figure 5 As shown, the lower limb force line monitoring device 8 of this embodiment includes: a processor 80, a readable storage medium 81, and a computer program 82 stored in the readable storage medium 81 and executable on the processor 80. When the processor 80 executes the computer program 82, the steps in the above-mentioned various method embodiments are implemented, for example Figure 1 Alternatively, when the processor 80 executes the computer program 82, the functions of each module in the above-mentioned device embodiments are realized, for example Figure 4 The functions of modules 100 to 500 are shown.

[0097] Exemplarily, the computer program 82 can be divided into one or more modules, which are stored in the readable storage medium 81 and executed by the processor 80 to complete the present invention. The one or more modules can be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program 82 in the lower limb force line monitoring device 8.

[0098] The lower limb force line monitoring device 8 may include, but is not limited to, a processor 80 and a readable storage medium 81. Those skilled in the art will appreciate that Figure 5It is only an example of the lower limb force line monitoring device 8 and does not constitute a limitation of the lower limb force line monitoring device 8. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the lower limb force line monitoring device may also include a power management module, an operation processing module, input and output devices, a network access device, a bus, etc.

[0099] The processor 80 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0100] The readable storage medium 81 may be an internal storage unit of the lower limb force line monitoring device 8, such as a hard disk or memory of the lower limb force line monitoring device 8. The readable storage medium 81 may also be an external storage device of the lower limb force line monitoring device 8, such as a plug-in hard disk, a smart memory card (SmartMediaCard, SMC), a secure digital (SecureDigital, SD) card, a flash card (FlashCard), etc. equipped on the lower limb force line monitoring device 8. Furthermore, the readable storage medium 81 may also include both the internal storage unit and the external storage device of the lower limb force line monitoring device 8. The readable storage medium 81 is used to store the computer program and other programs and data required by the lower limb force line monitoring device. The readable storage medium 81 may also be used to temporarily store data that has been output or is to be output.

[0101] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the lower limb force line monitoring device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0102] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0103] Those of ordinary skill in the art will appreciate that the units and method steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0104] In the embodiments provided by the present invention, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0105] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0106] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0107] The present invention is not limited to what is described in the specification and implementation modes, and therefore additional advantages and modifications can be easily realized by those skilled in the art. Therefore, without departing from the spirit and scope of the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details, representative devices, and illustrative examples shown and described herein.

Claims

1. A method for monitoring lower limb force lines, characterized in that: A first sensing device is provided at the knee joint of the target object, and a second sensing device is provided at the ankle joint. The method comprises the following steps: Step 1, generating a target detection action corresponding to the target object, wherein the target detection action includes a first type of action with the hip joint as the axis and a second type of action with the knee joint as the axis, the first type of action includes a first target body position action and / or a first target walking action, and the second type of action includes a second target body position action and / or a second target walking action; Step 2, generating a prompt instruction to drive the target object to complete the corresponding continuous lower limb joint movement according to the target detection action; Step 3, acquiring spatial position data respectively sent by the first sensing device and the second sensing device during continuous lower limb joint movement; Step 4, calculating a first distance between the center of the knee joint and the center of the femoral head, a second distance between the center of the ankle joint and the center of the femoral head, and a third distance between the center of the ankle joint and the center of the knee joint according to the spatial position data; Step 5, calculating the valgus and valgus angle of the knee joint of the target object according to the first distance, the second distance and the third distance; During the continuous lower limb joint movement, the line connecting the center of the femoral head and the first sensing device and the line connecting the inner and outer sides of the knee joint form a right angle, the line connecting the center of the femoral head and the second sensing device and the line connecting the inner and outer sides of the ankle joint form a right angle, and the line connecting the center of the knee joint and the second sensing device and the line connecting the inner and outer sides of the ankle joint form a right angle, and the first distance, the second distance and the third distance are calculated using the Pythagorean theorem, specifically: Calculate a first rotation distance of the first sensing device relative to the center of the femoral head, a second rotation distance of the second sensing device relative to the center of the femoral head, and a third rotation distance of the second sensing device relative to the center of the knee joint according to the spatial position data; Collecting the medial and lateral widths of the knee joint and the medial and lateral widths of the ankle joint of the target object; Based on the Pythagorean theorem and according to the medial-lateral width of the knee joint and the first rotation distance, the first distance of the knee joint center relative to the femoral head center is calculated; based on the medial-lateral width of the ankle joint and the second rotation distance, the second distance of the ankle joint center relative to the femoral head center is calculated; based on the medial-lateral width of the ankle joint and the third rotation distance, the third distance of the ankle joint center relative to the knee joint center is calculated.

2. The method for monitoring lower limb force lines according to claim 1, characterized in that: The target detection action corresponding to the generated target object is specifically: Collect historical data, and establish an action library according to the historical data, wherein the action library includes detection action sets corresponding to different degrees of inward and outward valgus of the knee joint, each detection action set includes the first type of action and the second type of action, the first type of action and the second type of action respectively include at least one preset body position action and / or at least one preset walking action, and each preset body position action or each preset walking action has a corresponding motion parameter value; Obtain preliminary observation results of the internal and external valgus of the target subject's knee joint; The action library is queried according to the preliminary inside-outside-out observation result to generate a target detection action corresponding to the target object.

3. The method for monitoring lower limb force lines according to claim 1, characterized in that: The step of calculating the valgus and valgus angle of the knee joint of the target object according to the first distance, the second distance and the third distance is specifically as follows: generating a fourth distance, wherein the fourth distance is the sum of the first distance and the third distance; Calculate the difference between the second distance and the fourth distance, and determine whether the difference is in a preset interval. If so, determine that the lower limb force line of the target object is centered. Otherwise, calculate the valgus and valgus angles of the knee joint of the target object based on the first distance, the second distance and the third distance.

4. The method for monitoring lower limb force lines according to any one of claims 1 to 3, characterized in that: The first sensing device and the second sensing device include a gyroscope, an accelerometer and / or a gravity sensor, and the spatial position data include the position change value and angle change value respectively corresponding to the first sensing device and the second sensing device during the target object completing the continuous lower limb joint movement.

5. The method for monitoring lower limb force lines according to claim 4, characterized in that: The acquiring of the spatial position data respectively sent by the first sensing device and the second sensing device during the continuous lower limb joint movement is specifically: Monitoring the real-time posture of the target object completing the continuous lower limb joint movement, determining a first optimal posture corresponding to the first type of action and a second optimal posture corresponding to the second type of action, and marking the corresponding action time; The spatial position data respectively sent by the first sensing device and the second sensing device are obtained, and all the spatial position data are filtered according to the action time to generate first target spatial position data corresponding to the first type of action and second target spatial position data corresponding to the second type of action.

6. The method for monitoring lower limb force lines according to claim 4, characterized in that: The acquiring of the spatial position data respectively sent by the first sensing device and the second sensing device during the continuous lower limb joint movement is specifically: Identifying the real-time posture of the target object completing the continuous lower limb joint movement, and marking each lower limb joint movement during the continuous lower limb joint movement according to the action type; Screening and sorting the spatial position data sent by the first sensing device and the second sensing device, and generating spatial position data corresponding to each lower limb joint movement according to the marking results; Establishing a spatial position data set corresponding to the same lower limb joint movement, and processing at least one spatial position data in the spatial position data set to generate preferred spatial position data corresponding to each lower limb joint movement; First target spatial position data corresponding to the first type of action and second target spatial position data corresponding to the second type of action are generated based on at least one preferred spatial position data corresponding to the first type of action and at least one preferred spatial position data corresponding to the second type of action.

7. A lower limb force line monitoring device, based on the lower limb force line monitoring method according to any one of claims 1 to 6, characterized in that: The target object has a first sensing device at its knee joint and a second sensing device at its ankle joint. The lower limb force line monitoring device includes an action generation module, an instruction generation module, a data acquisition module, a first calculation module and a second calculation module. The action generation module is used to generate a target detection action corresponding to the target object, the target detection action includes a first type of action with the hip joint as the axis and a second type of action with the knee joint as the axis, the first type of action includes a first target body position action and / or a first target walking action, and the second type of action includes a second target body position action and / or a second target walking action; The instruction generation module is used to generate prompt instructions to drive the target object to complete the corresponding continuous lower limb joint movement according to the target detection action. During the continuous lower limb joint movement, the line connecting the center of the femoral head and the first sensing device and the line connecting the inner and outer sides of the knee joint form a right angle, the line connecting the center of the femoral head and the second sensing device and the line connecting the inner and outer sides of the ankle joint form a right angle, and the line connecting the center of the knee joint and the second sensing device and the line connecting the inner and outer sides of the ankle joint form a right angle; The data acquisition module is used to acquire the spatial position data respectively sent by the first sensing device and the second sensing device during the continuous lower limb joint movement; The first calculation module is used to calculate a first distance between the center of the knee joint and the center of the femoral head, a second distance between the center of the ankle joint and the center of the femoral head, and a third distance between the center of the ankle joint and the center of the knee joint according to the spatial position data and the Pythagorean theorem; The second calculation module is used to calculate the valgus and valgus angle of the knee joint of the target object according to the first distance, the second distance and the third distance; The first calculation module specifically includes: A second acquisition unit is used to calculate a first rotation distance of the first sensing device relative to the center of the femoral head, a second rotation distance of the second sensing device relative to the center of the femoral head, and a third rotation distance of the second sensing device relative to the center of the knee joint according to the spatial position data; A third acquisition unit is used to acquire the medial and lateral widths of the knee joint and the medial and lateral widths of the ankle joint of the target object; A first calculation unit is used to calculate the first distance of the knee joint center relative to the femoral head center based on the Pythagorean theorem and according to the medial-lateral width of the knee joint and the first rotation distance, calculate the second distance of the ankle joint center relative to the femoral head center according to the medial-lateral width of the ankle joint and the second rotation distance, and calculate the third distance of the ankle joint center relative to the knee joint center according to the medial-lateral width of the ankle joint and the third rotation distance.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the lower limb force line monitoring method described in any one of claims 1-6 above is implemented.

9. A lower limb force line monitoring device, comprising a computer readable storage medium and a processor, characterized in that: When the processor executes the computer program on the computer-readable storage medium, the steps of the lower limb force line monitoring method described in any one of claims 1 to 6 are implemented.

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