A method, device, medium and equipment for real-time assessment of lower limb force line

Abstract

The present invention discloses a method, device, medium and equipment for real-time evaluation of lower limb force lines, the method comprising: generating prompt instructions to drive a target object to complete preset hip and knee joint movements; obtaining spatial position data respectively sent by the first to fourth sensing devices during the hip and knee joint movements; calculating the rotation radius of the sensing device relative to the knee joint center and / or the hip joint center according to the spatial position data; determining whether the rotation radius meets the preset determination conditions, and generating a first knee valgus evaluation result according to the determination result. The present invention can monitor the lower limb force lines and the deviation angle of the lower limb force lines 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 real-time evaluation of 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 real-time evaluation of 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 real-time assessment of lower limb force lines, wherein a first sensing device and a second sensing device are respectively provided on the inner and outer sides of a knee joint of a target object, and a third sensing device and a fourth sensing device are respectively provided on the inner and outer sides of an ankle joint, and the method comprises the following steps:

[0006] Step 1, generating prompt instructions to drive the target object to complete the preset hip and knee joint movements;

[0007] Step 2, obtaining spatial position data respectively sent by the first sensing device to the fourth sensing device during the movement of the hip and knee joints;

[0008] Step 3, calculating the rotation radius of the first sensing device to the fourth sensing device relative to the rotation center of the femoral head and / or the rotation center of the knee joint respectively according to the spatial position data, the rotation radius including the first rotation distance a1 of the first sensing device relative to the rotation center of the femoral head, the second rotation distance a1' of the second sensing device relative to the rotation center of the femoral head, the third rotation distance b1 of the third sensing device relative to the rotation center of the femoral head, the fourth rotation distance b1' of the fourth sensing device relative to the rotation center of the femoral head, the fifth rotation distance b2 of the third sensing device relative to the rotation center of the knee joint, and the sixth rotation distance b2' of the fourth sensing device relative to the rotation center of the knee joint;

[0009] Step 4, determining whether the first rotation distance to the sixth rotation distance meets a preset determination condition, and generating a first knee valgus and valgus evaluation result of the target object according to the determination result.

[0010] 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 above-mentioned method for real-time assessment of lower limb force lines.

[0011] A third aspect of an embodiment of the present invention provides a lower limb force line real-time assessment device, comprising a computer-readable storage medium and a processor, wherein the processor implements the steps of the above-mentioned lower limb force line real-time assessment method when executing a computer program on the computer-readable storage medium.

[0012] A fourth aspect of an embodiment of the present invention provides a lower limb force line real-time assessment device, comprising an instruction generation module, a data acquisition module, a first calculation module and a second calculation module.

[0013] The instruction generation module is used to generate prompt instructions to drive the target object to complete the preset hip and knee joint movements;

[0014] The data acquisition module is used to acquire the spatial position data respectively sent by the first to fourth sensing devices during the movement of the hip and knee joints;

[0015] The first calculation module is used to calculate the rotation radius of the first sensing device to the fourth sensing device relative to the femoral head rotation center and / or the knee joint rotation center according to the spatial position data, and the rotation radius includes the first rotation distance a1 of the first sensing device relative to the femoral head rotation center, the second rotation distance a1' of the second sensing device relative to the femoral head rotation center, the third rotation distance b1 of the third sensing device relative to the femoral head rotation center, the fourth rotation distance b1' of the fourth sensing device relative to the femoral head rotation center, the fifth rotation distance b2 of the third sensing device relative to the knee joint rotation center, and the sixth rotation distance b2' of the fourth sensing device relative to the knee joint rotation center;

[0016] The second calculation module is used to determine whether the first rotation distance to the sixth rotation distance meets a preset determination condition, and generate a first knee valgus and valgus evaluation result of the target object according to the determination result.

[0017] The present invention provides a method, device, medium and equipment for real-time evaluation of lower limb force lines. 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 lower limb force lines and the deviation angles of the lower limb force lines 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.

[0018] 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

[0019] 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.

[0020] Figure 1 is a schematic flow chart of the real-time evaluation method for lower limb force lines provided in Example 1;

[0021] Figure 2 is a schematic diagram of the movement of the sensing device in Example 1;

[0022] Figure 3 is a skeleton diagram of knee varus in Example 1;

[0023] Figure 4 is a schematic structural diagram of a lower limb force line real-time assessment device provided in Example 2;

[0024] Figure 5 It is a schematic diagram of the structure of the real-time assessment device for lower limb force lines provided in Example 3. DETAILED DESCRIPTION

[0025] 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.

[0026] 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.

[0027] Figure 1 It is a flow chart of a real-time assessment method of lower limb force lines provided in Example 1. In this embodiment, the inner and outer sides of the knee joint of the target object are respectively provided with a first sensing device and a second sensing device, and the inner and outer sides of the ankle joint are respectively provided with a third sensing device and a fourth sensing device. The first sensing device to the fourth sensing device include one or more of a gyroscope, an accelerometer, and a gravity sensor, or are an integration of the above-mentioned multiple sensors, by fixing the first sensing device and the second sensing device to the inner and outer sides of the knee joint, and fixing the third sensing device and the fourth sensing device to the inner and outer sides of the ankle joint, thereby recording the spatial position change information of the corresponding positions. The specific fixing method can be fixed to the limb by binding with a strap, or fixed to the brace by a corresponding buckle, so that the above-mentioned sensing device is set horizontally with the knee joint line and the ankle joint line to obtain a more accurate measurement result.

[0028] like Figure 1 As shown, the real-time evaluation method of lower limb force line in this embodiment includes the following steps:

[0029] Step 1, generate prompt instructions to drive the target object to complete the preset hip and knee joint movements. The preset hip and knee joint movements here include at least one first type of action with the hip joint as the axis and at least one 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.

[0030] Step 2, obtaining the spatial position data respectively sent by the first to fourth sensing devices during the hip and knee joint movement. The spatial position data here includes the position change values ​​and angle change values ​​respectively sent by the first to fourth sensing devices during the target object completing the first type of action and the second type of action.

[0031] Then execute step 3, calculate the rotation radius of the first sensing device to the fourth sensing device relative to the femoral head rotation center and / or the knee joint rotation center according to the spatial position data, the rotation radius includes the first rotation distance a1 of the first sensing device relative to the femoral head rotation center, the second rotation distance a1' of the second sensing device relative to the femoral head rotation center, the third rotation distance b1 of the third sensing device relative to the femoral head rotation center, the fourth rotation distance b1' of the fourth sensing device relative to the femoral head rotation center, the fifth rotation distance b2 of the third sensing device relative to the knee joint rotation center, and the sixth rotation distance b2' of the fourth sensing device relative to the knee joint rotation center.

[0032] Figure 2 It is a schematic diagram of the motion process of the sensing device. Figure 2 As shown, when the sensing device fixed on the inner and outer sides of the knee joint or the inner and outer sides 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 the P1 position to the P2 position, the length of the arc a, i.e., the position change value of the sensing device, can be obtained according to the double integration of the accelerometer over time; the angle change θ, i.e., the angle change value of the sensing device, can be obtained according to the gyroscope data, and then the rotation radius r can be calculated. For this embodiment, the first rotation distance a1 of the first sensing device relative to the rotation center of the femoral head, the second rotation distance a1' of the second sensing device relative to the rotation center of the femoral head, the third rotation distance b1 of the third sensing device relative to the rotation center of the femoral head, the fourth rotation distance b1' of the fourth sensing device relative to the rotation center of the femoral head, the fifth rotation distance b2 of the third sensing device relative to the rotation center of the knee joint, and the sixth rotation distance b2' of the fourth sensing device relative to the rotation center of the knee joint can be calculated.

[0033] Finally, perform step 4 to determine whether the first to sixth rotation distances meet the preset determination conditions, and generate the first knee varus-valgus evaluation result of the target object according to the determination result.

[0034] The above embodiment provides a method for real-time evaluation of the lower limb force line. By calculating the distances between the center points of the femoral head, the knee joint, and the ankle joint of the human body based on the motion detection data of sensors such as gyroscopes, accelerometers, and gravity sensors, the lower limb force line and the deviation angle of the lower limb force line can be monitored in real time. Without the need for traditional complex measurement devices in clinical practice, it is not only highly accurate and safe to use, but also simple to operate and easy to use.

[0035] Figure 3 is a skeletal diagram of genu varum, as Figure 3 shown, determine whether the first to sixth rotation distances meet the preset determination conditions, and generate the first knee varus-valgus evaluation result of the target object according to the determination result. Specifically:

[0036] If a1 = a1', b1 = b1' and b2 = b2', it is determined that the lower limb force line of the target object is centered;

[0037] If a1 < a1', b1 < b1' and b2 = b2', it is determined that the lower limb force line of the target object is varus, and the varus is located on the femoral side;

[0038] If a1 = a1', b1 < b1' and b2 < b2', it is determined that the lower limb force line of the target object is varus, and the varus is located on the tibial side;

[0039] If a1 > a1', b1 > b1' and b2 = b2', it is determined that the lower limb force line of the target object is valgus, and the valgus is located on the femoral side;

[0040] If a1 = a1', b1 > b1' and b2 > b2', it is determined that the lower limb force line of the target object is valgus, and the valgus is located on the tibial side.

[0041] In other embodiments, if there are detection results that do not belong to the above determination conditions, it indicates that there may be errors or mistakes in the detection data of each sensor. An early warning instruction can be generated to drive medical staff to check and adjust the installation and working status of each sensor.

[0042] In a preferred embodiment, the real-time evaluation method further includes the following steps:

[0043] Determine the knee varus-valgus state of the target object under each action according to the spatial position data sent by the first to fourth sensing devices during each action process;

[0044] The first knee valgus and valgus evaluation result of the target object is generated by comprehensively analyzing the knee valgus and valgus states corresponding to each action. In the above embodiment, the preset hip and knee joint movements may include multiple continuous first-type actions and second-type actions. For example, a certain action is repeatedly executed, and the corresponding motion parameters are adjusted during the execution process to obtain repeated monitoring results of the same type of action, thereby obtaining the knee valgus and valgus state of the target object under the action. Repeating the above steps can obtain the knee valgus and valgus state of the target object under each different action. In a specific embodiment, the target object may have a more obvious knee valgus and valgus state under one action, while in another action, the knee valgus and valgus state may be relatively not obvious. In this way, through the comprehensive evaluation of multiple different actions, not only a more accurate measurement result can be obtained, but also the knee valgus and valgus state of the target user can be monitored in real time, and the target user can be reminded in which actions the knee valgus and valgus are more serious, so that the user can actively pay attention to and correct related actions in daily life.

[0045] In a preferred embodiment, the method for real-time assessment of lower limb force lines further comprises the following steps:

[0046] Step 5, filtering the target spatial position data, wherein the target spatial position data includes the spatial position data sent by the first sensing device or the second sensing device at the knee joint during the completion of the target first type of action and the spatial position data sent by the third sensing device or the fourth sensing device at the ankle joint during the completion of the target second type of action.

[0047] In a preferred embodiment, the user can perform targeted preset hip and knee joint movements, that is, select a target detection action from a preset action library, and collect and filter the target spatial position data during the completion of the target detection action.

[0048] Each target detection action includes the first type of action and the second type of action, and 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, including motion speed, motion angle or motion amplitude, etc. In a specific embodiment, whether it is the first type of action or the second type of action, 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 and the first sensing device (or the second 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 and the third sensing device (or the fourth 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 and the third sensing device (or the fourth 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.

[0049] Step 6, calculating 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 target spatial position data;

[0050] Step 7, generating a second knee valgus and valgus evaluation result of the target object according to the first distance, the second distance and the third distance;

[0051] Step 8: Generate a target evaluation result of the target object by combining the first knee valgus evaluation result and the second knee valgus evaluation result.

[0052] In one embodiment, step 6 is specifically as follows:

[0053] S601, calculate, based on the target spatial position data, the first movement distance d1 (one of the first rotation distance a1 and the second rotation distance a1') of the first sensing device or the second sensing device relative to the center of the femoral head, the second movement distance d2 (one of the third rotation distance b1 and the fourth rotation distance b1') of the third sensing device or the fourth sensing device relative to the center of the femoral head, and the third movement distance d3 (one of the fifth rotation distance b2 and the sixth rotation distance b2') of the third sensing device or the fourth sensing device relative to the center of the knee joint.

[0054] S602, collecting the medial and lateral width L1 of the knee joint and the medial and lateral width L2 of the ankle joint of the target object. In a specific embodiment, the target object is asked to stand or lie on his back, and the distance between the medial and lateral sensing devices or the medial and lateral width can be obtained by directly measuring the medial and lateral width.

[0055] S603, calculating a first distance L between the center of the knee joint and the center of the femoral head according to the medial and lateral widths L1 of the knee joint and the first movement distance d1. F , calculate the second distance L between the center of the ankle joint and the center of the femoral head according to the medial and lateral width L2 of the ankle joint and the second movement distance d2 M , calculate the third distance L between the center of the ankle joint and the center of the knee joint according to the medial and lateral width L2 of the ankle joint and the third movement distance d3 T , the calculation formula is as follows:

[0056] The first distance between the center of the knee joint and the center of the femoral head ;

[0057] The second distance between the center of the ankle joint and the center of the femoral head ;

[0058] The third distance between the center of the ankle joint and the center of the knee joint .

[0059] Then according to the first distance L F , the second distance L M and the third distance L T Calculate the valgus and valgus angles of the target object’s knee joint, specifically:

[0060] generating a fourth distance, wherein the fourth distance is the sum of the first distance and the third distance;

[0061] Calculate the difference between the second distance and the fourth distance, and determine whether the difference is within a preset interval. If so, determine 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.

[0062] In a preferred embodiment, the target evaluation result of the target object is generated by integrating the first knee valgus evaluation result and the second knee valgus evaluation result in step 8, specifically:

[0063] Determine whether the first knee valgus and valgus evaluation result and the second knee valgus and valgus evaluation result are the same or similar. If so, calculate the knee valgus and valgus angle of the target object according to the second knee valgus and valgus evaluation result; if not, generate a warning instruction to prompt checking the wearing status of the first sensing device to the fourth sensing device, and repeat steps 5-8 to generate the target evaluation result of the target object, so that the obtained judgment result more accurately reflects the current knee valgus and valgus state of the target object.

[0064] In a preferred embodiment, the step of calculating the knee valgus angle of the target object according to the second knee valgus evaluation result comprises the following steps:

[0065] Determine a first line connecting the center of the femoral head and the center of the knee joint and a second line connecting the center of the femoral head and the center of the ankle joint;

[0066] The target object's knee valgus angle is calculated according to a preset formula, where the knee valgus angle is the angle between the first connecting line and the second connecting line. The preset formula is:

[0067] ,

[0068] Where α is the valgus angle of the knee joint, L F L is the first distance between the center of the knee joint and the center of the femoral head. M is the second distance between the center of the ankle joint and the center of the femoral head, L T It is the third distance of the ankle joint center relative to the knee joint center.

[0069] 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 force line of the upper limbs. For example, a first sensing device and a second sensing device are respectively arranged on the inner and outer sides of the elbow joint, and a third sensing device and a fourth sensing device are respectively arranged on the inner and outer sides of the wrist joint. The real-time detection data from the first sensing device to the fourth sensing device are used to measure the upper limb force line and the deviation of the upper limb force line. The specific technical scheme is similar to the scheme for monitoring the force line of the lower limbs, and is within the protection scope of the present invention, so it will not be described in detail here.

[0070] 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 method for real-time assessment of lower limb force lines is implemented.

[0071] Figure 4 is a schematic diagram of the structure of the real-time evaluation device for lower limb force line provided in Example 2. Figure 4 As shown in the figure, it includes an instruction generation module 100, a data acquisition module 200, a first calculation module 300, and a second calculation module 400.

[0072] The instruction generation module 100 is used to generate a prompt instruction to drive the target object to complete a preset hip and knee joint movement.

[0073] The data acquisition module 200 is used to acquire the spatial position data respectively sent by the first to fourth sensing devices during the hip and knee joint movement.

[0074] The first calculation module 300 is used to calculate the rotation radii of the first to fourth sensing devices relative to the femoral head rotation center and / or the knee joint rotation center according to the spatial position data. The rotation radii include the first rotation distance a1 of the first sensing device relative to the femoral head rotation center, the second rotation distance a1' of the second sensing device relative to the femoral head rotation center, the third rotation distance b1 of the third sensing device relative to the femoral head rotation center, the fourth rotation distance b1' of the fourth sensing device relative to the femoral head rotation center, the fifth rotation distance b2 of the third sensing device relative to the knee joint rotation center, and the sixth rotation distance b2' of the fourth sensing device relative to the knee joint rotation center.

[0075] The second calculation module 400 is used to determine whether the first to sixth rotation distances meet the preset determination conditions, and generate the first knee joint varus / valgus evaluation result of the target object according to the determination result.

[0076] The above embodiment provides a lower limb force line real-time evaluation device, which can monitor the lower limb force line and the deviation angle of the lower limb force line in real time, without the need for traditional complex measurement devices in clinical practice. It not only has high accuracy and safe use, but also has simple operation and is easy to use.

[0077] In a preferred embodiment, the preset determination conditions are as follows:

[0078] If a1 = a1', b1 = b1' and b2 = b2', it is determined that the lower limb force line of the target object is centered.

[0079] If a1 < a1', b1 < b1' and b2 = b2', it is determined that the lower limb force line of the target object is varus, and the varus is located on the femoral side.

[0080] If a1 = a1', b1 < b1' and b2 < b2', it is determined that the lower limb force line of the target object is varus, and the varus is located on the tibial side.

[0081] If a1 > a1', b1 > b1' and b2 = b2', it is determined that the lower limb force line of the target object is valgus, and the valgus is located on the femoral side.

[0082] If a1=a1', b1>b1' and b2>b2', it is determined that the force line of the lower limb of the target subject is everted and the eversion is located on the tibia side.

[0083] In a preferred embodiment, the first sensing device, the second sensing device, the third sensing device and the fourth sensing device include a gyroscope, an accelerometer and / or a gravity sensor; the preset hip and knee joint movements include at least one first type of action with the hip joint as the axis and at least one second type of action with the knee joint as the axis, and the spatial position data includes the position change values ​​and angle change values ​​respectively sent from the first sensing device to the fourth sensing device during the target object completing the first type of action and the second type of action.

[0084] In a preferred embodiment, the real-time evaluation device also includes a first comprehensive evaluation module, which is specifically used to determine the valgus and valgus state of the knee joint of the target object under each action according to the spatial position data sent by the first sensing device to the fourth sensing device in each action process; and is used to comprehensively generate the first valgus and valgus evaluation result of the target object according to the valgus and valgus state of the knee joint corresponding to each action.

[0085] In a preferred embodiment, the real-time evaluation device further includes a second comprehensive evaluation module, and the second comprehensive evaluation module specifically includes:

[0086] A screening unit, used for screening target spatial position data, wherein the target spatial position data includes spatial position data sent by the first sensing device or the second sensing device at the knee joint during the completion of the first type of action and spatial position data sent by the third sensing device or the fourth sensing device at the ankle joint during the completion of the second type of action;

[0087] a calculation unit, for calculating a first distance between a knee joint center and a femoral head center, a second distance between an ankle joint center and a femoral head center, and a third distance between an ankle joint center and a knee joint center according to the target spatial position data;

[0088] A first evaluation unit, configured to generate a second knee valgus and valgus evaluation result of the target object according to the first distance, the second distance and the third distance;

[0089] The second evaluation unit is used to generate a target evaluation result of the target object by integrating the first knee valgus and valgus evaluation result and the second knee valgus and valgus evaluation result.

[0090] In one embodiment, the second evaluation unit is specifically used to determine whether the first knee valgus and valgus evaluation result and the second knee valgus and valgus evaluation result are the same or similar. If so, the knee valgus and valgus angle of the target object is calculated according to the second knee valgus and valgus evaluation result; if not, a warning instruction is generated to prompt to check the wearing status of the first sensing device to the fourth sensing device, and repeat steps 5-8 to generate the target evaluation result of the target object.

[0091] An embodiment of the present invention also provides a lower limb force line real-time assessment device, including a computer-readable storage medium and a processor, wherein the processor implements the steps of the above-mentioned lower limb force line real-time assessment method when executing the computer program on the computer-readable storage medium.

[0092] Figure 5 : is a schematic diagram of the structure of the lower limb force line real-time assessment device provided by Example 3 of the present invention, such as Figure 5 As shown, the lower limb force line real-time assessment 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, such as 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 400 are shown.

[0093] 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 real-time assessment device 8.

[0094] The lower limb force line real-time assessment 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 5 It is only an example of the lower limb force line real-time assessment device 8 and does not constitute a limitation of the lower limb force line real-time assessment 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 real-time assessment device may also include a power management module, an operation processing module, input and output devices, a network access device, a bus, etc.

[0095] 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.

[0096] The readable storage medium 81 may be an internal storage unit of the lower limb force line real-time assessment device 8, such as a hard disk or memory of the lower limb force line real-time assessment device 8. The readable storage medium 81 may also be an external storage device of the lower limb force line real-time assessment 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 real-time assessment device 8. Further, the readable storage medium 81 may also include both the internal storage unit and the external storage device of the lower limb force line real-time assessment 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 real-time assessment device. The readable storage medium 81 may also be used to temporarily store data that has been output or is to be output.

[0097] The technicians in the related field 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 to illustrate. In practical applications, the above-mentioned function distribution can be completed by different functional units and modules as needed, that is, the internal structure of the lower limb force line real-time assessment device is 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 alone, or two or more units can be integrated in one unit, and 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 from each other, and are not used to limit the scope of protection of the present 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, and will not be repeated here.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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 real-time assessment of lower limb force lines, characterized in that: The target object's knee joint is provided with a first sensing device and a second sensing device on its inner and outer sides, and a third sensing device and a fourth sensing device on its inner and outer sides, respectively. The method comprises the following steps: Step 1, generating prompt instructions to drive the target object to complete the preset hip and knee joint movements; Step 2, obtaining spatial position data respectively sent by the first sensing device to the fourth sensing device during the movement of the hip and knee joints; Step 3, calculating the rotation radius of the first sensing device to the fourth sensing device relative to the rotation center of the femoral head and / or the rotation center of the knee joint respectively according to the spatial position data, the rotation radius including the first rotation distance a1 of the first sensing device relative to the rotation center of the femoral head, the second rotation distance a1' of the second sensing device relative to the rotation center of the femoral head, the third rotation distance b1 of the third sensing device relative to the rotation center of the femoral head, the fourth rotation distance b1' of the fourth sensing device relative to the rotation center of the femoral head, the fifth rotation distance b2 of the third sensing device relative to the rotation center of the knee joint, and the sixth rotation distance b2' of the fourth sensing device relative to the rotation center of the knee joint; Step 4, determining whether the first rotation distance to the sixth rotation distance meets a preset determination condition, and generating a first knee valgus and valgus evaluation result of the target object according to the determination result; Step 5, screening the target spatial position data, the target spatial position data including the spatial position data sent by the first sensing device or the second sensing device at the knee joint during the completion of the target first type of action, the spatial position data sent by the third sensing device or the fourth sensing device at the ankle joint, and the spatial position data sent by the third sensing device or the fourth sensing device at the ankle joint during the completion of the target second type of action; during the target first type of action and the target second type of action, the line connecting the center of the femoral head with the first sensing device or the second 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 with the third sensing device or the fourth 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 with the third sensing device or the fourth sensing device and the line connecting the inner and outer sides of the ankle joint form a right angle; Step 6, calculating the first movement distance of the first sensing device or the second sensing device relative to the center of the femoral head, the second movement distance of the third sensing device or the fourth sensing device relative to the center of the femoral head, and the third movement distance of the third sensing device or the fourth sensing device relative to the center of the knee joint based on the target spatial position data, and calculating 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 Pythagorean theorem; Step 7, generating a second knee valgus and valgus evaluation result of the target object according to the first distance, the second distance and the third distance; Step 8, generating a target evaluation result of the target object by integrating the first knee valgus evaluation result and the second knee valgus evaluation result.

2. The method for real-time assessment of lower limb force lines according to claim 1, characterized in that: Determine whether the first rotational distance to the sixth rotational distance meet the preset determination conditions, and generate the first knee joint varus / valgus evaluation result of the target object according to the determination result, specifically: If a1 = a1', b1 = b1' and b2 = b2', it is determined that the lower limb force line of the target object is centered; If a1 < a1', b1 < b1' and b2 = b2', it is determined that the lower limb force line of the target object is varus, and the varus is located on the femoral side; If a1 = a1', b1 < b1' and b2 < b2', it is determined that the lower limb force line of the target object is varus, and the varus is located on the tibial side; If a1 > a1', b1 > b1' and b2 = b2', it is determined that the lower limb force line of the target object is valgus, and the valgus is located on the femoral side; If a1 = a1', b1 > b1' and b2 > b2', it is determined that the lower limb force line of the target object is valgus, and the valgus is located on the tibial side.

3. The method for real-time assessment of lower limb force lines according to claim 1 or 2, characterized in that: The first sensing device, the second sensing device, the third sensing device and the fourth sensing device include a gyroscope, an accelerometer and / or a gravity sensor; the preset hip and knee joint movements include at least one first type of movement with the hip joint as the axis and at least one second type of movement with the knee joint as the axis, and the spatial position data includes the position change values and angle change values respectively sent by the first sensing device to the fourth sensing device during the target object's completion of the first type of movement and the second type of movement.

4. The method for real-time assessment of lower limb force lines according to claim 3, characterized in that: It further includes the following steps: Determine the varus / valgus state of the target object's knee joint under each movement according to the spatial position data sent by the first sensing device to the fourth sensing device during each movement; Generate the first knee joint varus / valgus evaluation result of the target object by synthesizing the varus / valgus state of the knee joint corresponding to each movement.

5. The method for real-time assessment of lower limb force lines according to claim 3, characterized in that: Specifically: Synthesize the first knee joint varus / valgus evaluation result and the second knee joint varus / valgus evaluation result to generate the target evaluation result of the target object, specifically: Judge whether the first knee joint varus / valgus evaluation result and the second knee joint varus / valgus evaluation result are the same or similar. If so, calculate the knee joint varus / valgus angle of the target object according to the second knee joint varus / valgus evaluation result; if not, generate a warning instruction to prompt to check the wearing state of the first sensing device to the fourth sensing device, and repeat steps 5-8 to generate the target evaluation result of the target object.

6. The method for real-time assessment of lower limb force lines according to claim 5, characterized in that: The calculating the knee joint varus / valgus angle of the target object according to the second knee joint varus / valgus evaluation result includes the following steps: Determine the first connection line between the center of the femoral head and the center of the knee joint and the second connection line between the center of the femoral head and the center of the ankle joint; Calculate the knee joint varus / valgus angle of the target object according to a preset formula. The knee joint varus / valgus angle is the included angle between the first connection line and the second connection line, and the preset formula is: Where α is the valgus angle of the knee joint, L F L is the first distance between the center of the knee joint and the center of the femoral head. M is the second distance between the center of the ankle joint and the center of the femoral head, L T It is the third distance of the ankle joint center relative to the knee joint center.

7. A lower limb force line real-time assessment device, based on the lower limb force line of any one of claims 1-6 A real-time line evaluation method, characterized in that The target object's knee joint inner and outer sides are respectively provided with a first sensing device and a second sensing device, and the ankle joint inner and outer sides are respectively provided with a third sensing device and a fourth sensing device. The lower limb force line real-time evaluation device comprises an instruction generation module, a data acquisition module, a first calculation module, a second calculation module, and a second comprehensive evaluation module. The instruction generation module is used to generate prompt instructions to drive the target object to complete the preset hip and knee joint movements; The data acquisition module is used to acquire the spatial position data respectively sent by the first to fourth sensing devices during the movement of the hip and knee joints; The first calculation module is used to calculate the rotation radius of the first sensing device to the fourth sensing device relative to the femoral head rotation center and / or the knee joint rotation center according to the spatial position data, and the rotation radius includes the first rotation distance a1 of the first sensing device relative to the femoral head rotation center, the second rotation distance a1' of the second sensing device relative to the femoral head rotation center, the third rotation distance b1 of the third sensing device relative to the femoral head rotation center, the fourth rotation distance b1' of the fourth sensing device relative to the femoral head rotation center, the fifth rotation distance b2 of the third sensing device relative to the knee joint rotation center, and the sixth rotation distance b2' of the fourth sensing device relative to the knee joint rotation center; The second calculation module is used to determine whether the first rotation distance to the sixth rotation distance meets a preset determination condition, and generate a first knee valgus and valgus evaluation result of the target object according to the determination result; The second comprehensive evaluation module specifically includes: A screening unit is used to screen target spatial position data, wherein the target spatial position data includes spatial position data sent by a first sensing device or a second sensing device at a knee joint during a target first type of action, spatial position data sent by a third sensing device or a fourth sensing device at an ankle joint, and spatial position data sent by a third sensing device or a fourth sensing device at an ankle joint during a target second type of action; during the target first type of action and the target second type of action, a line connecting the center of the femoral head with the first sensing device or the second sensing device and a line connecting the inner and outer sides of the knee joint form a right angle, a line connecting the center of the femoral head with the third sensing device or the fourth sensing device and a line connecting the inner and outer sides of the ankle joint form a right angle, and a line connecting the center of the knee joint with the third sensing device or the fourth sensing device and a line connecting the inner and outer sides of the ankle joint form a right angle; a calculation unit, for calculating a first movement distance of the first sensing device or the second sensing device relative to the center of the femoral head, a second movement distance of the third sensing device or the fourth sensing device relative to the center of the femoral head, and a third movement distance of the third sensing device or the fourth sensing device relative to the center of the knee joint according to the target spatial position data, and calculating a first distance of the knee joint center relative to the center of the femoral head, a second distance of the ankle joint center relative to the center of the femoral head, and a third distance of the ankle joint center relative to the knee joint center based on the Pythagorean theorem; A first evaluation unit, configured to generate a second knee valgus and valgus evaluation result of the target object according to the first distance, the second distance and the third distance; The second evaluation unit is used to generate a target evaluation result of the target object by integrating the first knee valgus and valgus evaluation result and the second knee valgus and valgus evaluation result.

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

9. A lower limb force line real-time assessment 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 processor implements the steps of the real-time evaluation method of lower limb force line according to any one of claims 1 to 6.

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