Assessment method and rehabilitation device for patella function

Abstract

The invention discloses a patella function evaluation method and a rehabilitation device, and the method comprises the steps: employing a first position sensor disposed on the patella and a second position sensor disposed on the femur, and collecting a patella motion track and a femur motion track of a human body in a knee joint flexion process; respectively preprocessing the patella movement track and the thighbone movement track to obtain a preprocessed patella movement track and a preprocessed thighbone movement track; and carrying out difference judgment processing on the preprocessed patella motion trail and the preprocessed thighbone motion trail to obtain a patella sliding detection value. The motion sensor is arranged to detect the motion trails of the patella and the femur, quantitative evaluation of patella sliding is successfully achieved, rehabilitation equipment is controlled to relax leg muscles and fascia according to the evaluation result, and accurate rehabilitation of patella sliding is achieved.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation medicine, and in particular to a patellar function evaluation method and a rehabilitation device. Background Art

[0002] The human patella plays an important role in normal knee joint movement. When the knee joint is flexed, the patella slides distally, and when the knee joint is extended, the patella slides proximally. Therefore, patellar sliding plays an important role in the normal flexion and extension of the knee joint. Due to the widespread use of modern office communication tools such as computers and mobile phones, modern people are in a sedentary state, which causes the patella to be in a static state for a long time. At the same time, the inner and outer muscle fascia of the knee joint are tense, causing the patella to be passively pulled inward or outward, resulting in abnormal patellar movement trajectory, which will have an adverse effect on the function of the knee joint. Especially for patients who have undergone knee surgery, they are in a braking state for a long time, which will also cause adhesion around the patella, affecting the sliding of the patella and the function of the knee joint. How to detect the sliding state of the patella and rehabilitate the sliding state of the patella based on the test results is a problem that needs to be solved at present. Summary of the invention

[0003] The present invention mainly solves the problem of how to detect the sliding state of the patella and rehabilitate the sliding state of the patella based on the detection result. The present invention discloses a patella function evaluation method and a rehabilitation device.

[0004] In a first aspect of an embodiment of the present invention, a rehabilitation device for patellar sliding is disclosed, comprising: a patellar position sensor, a femoral position sensor, a fixed annular software, a muscle relaxation module, and a leg installation module;

[0005] The patella position sensor is installed at a position corresponding to the user's patella on a side of the fixed annular software body close to the human body, and is used to collect the user's patella movement trajectory;

[0006] The femoral position sensor is installed at a position corresponding to the user's femur on a side of the fixed annular software body close to the human body, and is used to collect the user's femoral movement trajectory;

[0007] The fixed annular soft body is used to be put on the user's knee position;

[0008] The muscle relaxation module is installed on the leg installation module and is used to relax the muscles and fascia of the user's thigh;

[0009] The leg mounting module includes a rigid plate and a buffering software; the muscle relaxation module is installed on the buffering software, and the buffering software is fitted and connected to the rigid plate; the buffering software is arranged on the side of the user's thigh close to the knee; the rigid plate is fitted and connected to the side of the buffering software that is not close to the user's thigh.

[0010] The patellar sliding rehabilitation device also includes a position detection module; the position detection module is connected to the patellar position sensor and the femoral position sensor respectively, and is used to receive the patellar motion trajectory and the femoral motion trajectory, process the patellar motion trajectory and the femoral motion trajectory, and obtain the patellar sliding detection value.

[0011] The step of processing the patella motion trajectory and the femoral motion trajectory to obtain a patella sliding detection value includes:

[0012] Preprocessing the patella motion trajectory and the femur motion trajectory respectively to obtain a preprocessed patella motion trajectory and a preprocessed femur motion trajectory;

[0013] The preprocessed patella motion trajectory and the preprocessed femoral motion trajectory are subjected to difference discrimination processing to obtain a patella sliding detection value.

[0014] The preprocessing of the patella motion trajectory and the femur motion trajectory respectively to obtain a preprocessed patella motion trajectory and a preprocessed femur motion trajectory comprises:

[0015] Performing outlier elimination processing on the patella motion trajectory and the femur motion trajectory respectively to obtain the first patella motion trajectory and the first femur motion trajectory;

[0016] Performing boundary mixing discrimination processing on the first patella motion trajectory and the first femoral motion trajectory respectively, to obtain a preprocessed patella motion trajectory and a preprocessed femoral motion trajectory respectively;

[0017] The performing difference discrimination processing on the preprocessed patella motion trajectory and the preprocessed femoral motion trajectory to obtain the patella sliding detection value includes:

[0018] Subtracting the preprocessed patella motion trajectory from the preprocessed femoral motion trajectory to obtain a difference trajectory; the difference trajectory includes difference trajectory points;

[0019] Find the difference trajectory points whose modulus values ​​are greater than a set threshold value in the difference trajectory, and construct a set of trajectory points to be processed by using all the found difference trajectory points;

[0020] Sliding evaluation processing is performed on the set of trajectory points to be processed to obtain a patellar sliding detection value.

[0021] In a second aspect of the embodiment of the present application, a method for evaluating patellar function is disclosed, which is applied to the rehabilitation device for patellar sliding, comprising:

[0022] S1, using a first position sensor disposed on the patella and a second position sensor disposed on the femur, respectively collecting and obtaining a patella motion trajectory and a femur motion trajectory of a human body during knee flexion;

[0023] S2, preprocessing the patella motion trajectory and the femur motion trajectory respectively to obtain a preprocessed patella motion trajectory and a preprocessed femur motion trajectory;

[0024] S3, performing difference discrimination processing on the preprocessed patella motion trajectory and the preprocessed femoral motion trajectory to obtain a patellar sliding detection value.

[0025] The method utilizes a first position sensor disposed on the patella and a second position sensor disposed on the femur to respectively collect and obtain a patella motion trajectory and a femur motion trajectory of a human body during knee joint flexion, comprising:

[0026] S11, using a first accelerometer sensor disposed on the patella and a second accelerometer sensor disposed on the femur, respectively acquiring position coordinates of the patella and femur of the user at each moment during the knee joint flexion process;

[0027] S12, arranging the position coordinates of the patella and the femur at all times in chronological order to obtain the patella motion trajectory and the femur motion trajectory respectively; the motion trajectory includes trajectory points and corresponding acquisition time.

[0028] The preprocessing of the patella motion trajectory and the femur motion trajectory respectively to obtain a preprocessed patella motion trajectory and a preprocessed femur motion trajectory comprises:

[0029] Performing outlier elimination processing on the patella motion trajectory and the femur motion trajectory respectively to obtain the first patella motion trajectory and the first femur motion trajectory;

[0030] The first patella motion trajectory and the first femoral motion trajectory are respectively subjected to boundary mixing discrimination processing to obtain a preprocessed patella motion trajectory and a preprocessed femoral motion trajectory, respectively.

[0031] The expression of the boundary mixed discrimination process is:

[0032] |X1-XA|≤a1,

[0033] |Y1-YA|≤a2,

[0034] |Z1-ZA|≤a3,

[0035] ∣(Z1-ZA)(Y1-YB)∣≤b1,

[0036] |(X1-XA)(Y1-YB)|≤b2,

[0037] ∣(X1-XA)(Z1-ZB)∣≤b3,

[0038] Among them, (X1, Y1, Z1) are the coordinates of the trajectory points of the first patella motion trajectory or the first femoral motion trajectory, (XA, YA, ZA) are the upper boundary coordinates of the first patella motion trajectory or the first femoral motion trajectory, (XB, YB, ZB) are the lower boundary coordinates of the first patella motion trajectory or the first femoral motion trajectory, a1, a2, a3 are the single discrimination thresholds on the x-axis, y-axis and z-axis of the motion trajectory respectively, b1, b2, b3 are the composite discrimination thresholds on the x-axis, y-axis and z-axis of the motion trajectory respectively; when (X1, Y1, Z1) does not satisfy the above expression, the trajectory point corresponding to (X1, Y1, Z1) is deleted from the corresponding first patella motion trajectory or first femoral motion trajectory.

[0039] The performing difference discrimination processing on the preprocessed patella motion trajectory and the preprocessed femoral motion trajectory to obtain the patella sliding detection value includes:

[0040] Subtracting the preprocessed patella motion trajectory from the preprocessed femoral motion trajectory to obtain a difference trajectory; the difference trajectory includes difference trajectory points;

[0041] Find the difference trajectory points whose modulus values ​​are greater than a set threshold value in the difference trajectory, and construct a set of trajectory points to be processed by using all the found difference trajectory points;

[0042] Sliding evaluation processing is performed on the set of trajectory points to be processed to obtain a patellar sliding detection value.

[0043] The calculation expression of the sliding evaluation process is:

[0044]

[0045] Among them, p is the patellar sliding detection value, [x i ′,y i ′,z i ′] is the i-th trajectory point in the set of trajectory points to be processed, M is the number of trajectory points to be processed contained in the set of trajectory points to be processed, and [x0, y0, z0] is a preset standard sliding vector.

[0046] The beneficial effects of the present invention are:

[0047] The present invention detects the movement trajectory of the patella and femur by setting up motion sensors, and successfully realizes the quantitative evaluation of patellar sliding by detecting the sliding state of the patella, which can realize efficient and rapid detection of patellar function, and according to the evaluation results, controls the rehabilitation equipment to relax the thigh muscles and fascia and slide the patella, thereby realizing accurate rehabilitation of patellar sliding.

[0048] In the quantitative evaluation of patellar sliding, the present invention eliminates wild values ​​that affect the judgment result through boundary mixed discrimination processing, and realizes accurate mining of patellar sliding feature quantities through sliding evaluation processing, and finally obtains the quantitative result of patellar sliding by fusing the feature quantities of the three coordinate axes, which is used to characterize the degree of patellar sliding. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a flow chart for implementing the method of the present invention. DETAILED DESCRIPTION

[0050] In order to better understand the content of the present invention, an embodiment is given here.

[0051] Figure 1 It is a flow chart for implementing the method of the present invention.

[0052] The patella is the largest sesamoid bone in the human body. It is almond-shaped when viewed from the front and triangular in cross section with the tip pointing downward. It is developed from the quadriceps tendon located in front of the knee joint. It is connected to the tibial tubercle by the patellar ligament, which is separated from the knee joint by a fat pad. The normal tip of the patella should be located in the middle of the medial and lateral condyles of the femur. When the knee joint changes from an extended position to a flexed position, the position of the patellar tip remains unchanged. Functions of the patella The patella has a variety of biomechanical functions.

[0053] The biggest function of the patella is to make the point of action of the quadriceps muscle away from the flexion axis of the knee joint and exert its maximum leverage. The patella is located on the front side of the knee joint, protecting the articular surface of the femur from impact. It can increase the torque by transmitting the power of the quadriceps muscle. During flexion and extension activities, the patella has a "chain belt" effect, which increases the rotation ability of the knee joint and has the effect of resisting knee valgus and valgus. It protects the stability of the knee joint in the semi-flexed position and prevents abnormal adduction, abduction and anterior and posterior dislocation of the knee joint. The sliding state of the patella plays an important role in the function of the patella. Therefore, by detecting the sliding state of the patella, efficient and rapid detection of patellar function can be achieved.

[0054] In order to solve the problem of how to detect the sliding state of the patella and rehabilitate the sliding state of the patella based on the detection result, the present invention discloses a patella function evaluation method and a rehabilitation device.

[0055] In a first aspect of the embodiments of the present application, a method for evaluating patellar function is disclosed, comprising:

[0056] S1, using a first position sensor disposed on the patella and a second position sensor disposed on the femur, respectively collecting and obtaining a patella motion trajectory and a femur motion trajectory of a human body during knee flexion;

[0057] S2, preprocessing the patella motion trajectory and the femur motion trajectory respectively to obtain a preprocessed patella motion trajectory and a preprocessed femur motion trajectory;

[0058] S3, performing difference discrimination processing on the preprocessed patella motion trajectory and the preprocessed femoral motion trajectory to obtain a patella sliding detection value;

[0059] The method utilizes a first position sensor disposed on the patella and a second position sensor disposed on the femur to respectively collect and obtain a patella motion trajectory and a femur motion trajectory of a human body during knee joint flexion, comprising:

[0060] S11, using a first accelerometer sensor disposed on the patella and a second accelerometer sensor disposed on the femur, respectively acquiring position coordinates of the patella and femur of the user at each moment during the knee joint flexion process;

[0061] S12, arranging the position coordinates of the patella and the femur at all times in chronological order to obtain the patella motion trajectory and the femur motion trajectory respectively; the motion trajectory includes trajectory points and corresponding acquisition time;

[0062] The preprocessing of the patella motion trajectory and the femur motion trajectory respectively to obtain a preprocessed patella motion trajectory and a preprocessed femur motion trajectory comprises:

[0063] Performing outlier elimination processing on the patella motion trajectory and the femur motion trajectory respectively to obtain the first patella motion trajectory and the first femur motion trajectory;

[0064] Performing boundary mixing discrimination processing on the first patella motion trajectory and the first femoral motion trajectory respectively, to obtain a preprocessed patella motion trajectory and a preprocessed femoral motion trajectory respectively;

[0065] The expression of the boundary mixed discrimination process is:

[0066] |X1-XA|≤a1,

[0067] |Y1-YA|≤a2,

[0068] |Z1-ZA|≤a3,

[0069] ∣(Z1-ZA)(Y1-YB)∣≤b1,

[0070] |(X1-XA)(Y1-YB)|≤b2,

[0071] ∣(X1-XA)(Z1-ZB)∣≤b3,

[0072] Wherein, (X1, Y1, Z1) are the coordinates of the trajectory points of the first patella motion trajectory or the first femoral motion trajectory, (XA, YA, ZA) are the upper boundary coordinates of the first patella motion trajectory or the first femoral motion trajectory, (XB, YB, ZB) are the lower boundary coordinates of the first patella motion trajectory or the first femoral motion trajectory, a1, a2, a3 are the single discrimination thresholds on the x-axis, y-axis and z-axis of the motion trajectory respectively, and b1, b2, b3 are the composite discrimination thresholds on the x-axis, y-axis and z-axis of the motion trajectory respectively; when (X1, Y1, Z1) does not satisfy the above expression, the trajectory point corresponding to (X1, Y1, Z1) is deleted from the corresponding first patella motion trajectory or first femoral motion trajectory;

[0073] The performing difference discrimination processing on the preprocessed patella motion trajectory and the preprocessed femoral motion trajectory to obtain the patella sliding detection value includes:

[0074] Subtracting the preprocessed patella motion trajectory from the preprocessed femoral motion trajectory to obtain a difference trajectory; the difference trajectory includes difference trajectory points;

[0075] Find the difference trajectory points whose modulus values ​​are greater than a set threshold value in the difference trajectory, and construct a set of trajectory points to be processed by using all the found difference trajectory points;

[0076] Performing sliding evaluation processing on the set of trajectory points to be processed to obtain a patellar sliding detection value;

[0077] The patellar sliding detection value is used to characterize the degree of patellar sliding. The larger the value is, the lower the degree of patellar sliding is, and the more peripheral muscle relaxation treatment is needed.

[0078] The calculation expression of the sliding evaluation process is:

[0079]

[0080] Among them, p is the patellar sliding detection value, [x i ′,y i ′,z i ′] is the i-th trajectory point of the set of trajectory points to be processed, M is the number of trajectory points to be processed contained in the set of trajectory points to be processed, and [x0, y0, z0] is a preset standard sliding vector;

[0081] In a second aspect of the embodiment of the present application, a rehabilitation device for patellar sliding is disclosed, comprising: a patellar position sensor, a femoral position sensor, a fixed annular software, a muscle relaxation module, and a leg installation module;

[0082] The patella position sensor is installed at a position corresponding to the user's patella on a side of the fixed annular software body close to the human body, and is used to collect the user's patella movement trajectory;

[0083] The femoral position sensor is installed at a position corresponding to the user's femur on a side of the fixed annular software body close to the human body, and is used to collect the user's femoral movement trajectory;

[0084] The fixed annular soft body is used to be put on the user's knee position;

[0085] The muscle relaxation module is installed on the leg installation module and is used to relax the muscles and fascia of the user's thigh;

[0086] The leg mounting module includes a rigid plate and a buffering software; the muscle relaxation module is mounted on the buffering software, and the buffering software is fitted and connected to the rigid plate; the buffering software is arranged on the side of the user's thigh close to the knee; the rigid plate is fitted and connected to the side of the buffering software that is not close to the user's thigh;

[0087] The fixed annular software can be a knee pad structure, which is put on the user's knee position, and the patella position sensor and the femur position sensor are installed on the inner side of the knee pad structure corresponding to the patella and femur; the buffer software can be a sponge-like cube structure, and the rigid plate is fitted and connected to the side of the sponge-like cube structure that is not close to the user's thigh.

[0088] An upper anti-slip sleeve and a lower anti-slip sleeve are respectively provided at both ends of the fixed annular soft body, for fixing the fixed annular soft body at the user's knee position;

[0089] The patella position sensor and the femur position sensor are implemented by using accelerometers;

[0090] The muscle relaxation module is implemented by using a fascia relaxation submodule or a heating submodule;

[0091] The fascia relaxation submodule includes a motor and a massage stick; the massage stick is provided with a vibration massage flange at the end, and when the motor is powered on, the vibration massage flange is driven to vibrate, thereby achieving a massage effect; the motor is connected to the massage stick;

[0092] The heating submodule includes a power supply and a heating sheet; the heating sheet is connected to the power supply and is used to generate heat energy after power is turned on; the heating sheet can be a silicon sheet, a graphene electric heating sheet, a metal wire sheet, etc.;

[0093] The rigid plate also includes a connecting belt, an adjusting buckle and a protruding portion; the rigid plate is provided with protruding portions at both ends; a plurality of adjusting buckles are provided at both ends of the connecting belt; the adjusting buckle is installed on the connecting belt through an axis structure; the neck strap buckle is buckled with the protruding portion; the adjusting buckle is used to adjust the length of the connecting belt in contact with the user's thigh according to the size of the user's thigh.

[0094] The buffer software may be sponge software.

[0095] The cushioning software and the rigid plate can be connected by Velcro or by a screw-nut structure;

[0096] The patellar sliding rehabilitation device further includes a position detection module; the position detection module is connected to the patellar position sensor and the femoral position sensor respectively, and is used to receive the patellar motion trajectory and the femoral motion trajectory, and process the patellar motion trajectory and the femoral motion trajectory to obtain a patellar sliding detection value;

[0097] The position detection module and the muscle relaxation module both include a wireless communication submodule for establishing a wireless communication link between the position detection module and the muscle relaxation module, and the position detection module sends the patellar sliding detection value to the muscle relaxation module;

[0098] The muscle relaxation module performs quantitative calculation processing on the patellar sliding detection value to obtain a heating voltage value of a power supply or a driving voltage value of a motor;

[0099] The expression of the quantitative calculation process is:

[0100] v = arctan(p / p0)-pi / 4,

[0101] Wherein, v represents the calculated heating voltage value of the power supply or the driving voltage value of the motor, p0 represents the preset standard patellar sliding value, and pi represents the pi constant;

[0102] The wireless communication submodule may be implemented using a Bluetooth module;

[0103] The position detection module is used to receive the patella motion trajectory and the femoral motion trajectory, process the patella motion trajectory and the femoral motion trajectory, and obtain a patellar sliding detection value, including:

[0104] Preprocessing the patella motion trajectory and the femur motion trajectory respectively to obtain a preprocessed patella motion trajectory and a preprocessed femur motion trajectory;

[0105] Performing difference discrimination processing on the preprocessed patella motion trajectory and the preprocessed femoral motion trajectory to obtain a patella sliding detection value;

[0106] The preprocessing of the patella motion trajectory and the femur motion trajectory respectively to obtain a preprocessed patella motion trajectory and a preprocessed femur motion trajectory comprises:

[0107] Performing outlier elimination processing on the patella motion trajectory and the femur motion trajectory respectively to obtain the first patella motion trajectory and the first femur motion trajectory;

[0108] Performing boundary mixing discrimination processing on the first patella motion trajectory and the first femoral motion trajectory respectively, to obtain a preprocessed patella motion trajectory and a preprocessed femoral motion trajectory respectively;

[0109] The expression of the boundary mixed discrimination process is:

[0110] |X1-XA|≤a1,

[0111] |Y1-YA|≤a2,

[0112] |Z1-ZA|≤a3,

[0113] ∣(Z1-ZA)(Y1-YB)∣≤b1,

[0114] |(X1-XA)(Y1-YB)|≤b2,

[0115] ∣(X1-XA)(Z1-ZB)∣≤b3,

[0116] Wherein, (X1, Y1, Z1) are the coordinates of the trajectory points of the first patella motion trajectory or the first femoral motion trajectory, (XA, YA, ZA) are the upper boundary coordinates of the first patella motion trajectory or the first femoral motion trajectory, (XB, YB, ZB) are the lower boundary coordinates of the first patella motion trajectory or the first femoral motion trajectory, a1, a2, a3 are the single discrimination thresholds on the x-axis, y-axis and z-axis of the motion trajectory respectively, and b1, b2, b3 are the composite discrimination thresholds on the x-axis, y-axis and z-axis of the motion trajectory respectively; when (X1, Y1, Z1) does not satisfy the above expression, the trajectory point corresponding to (X1, Y1, Z1) is deleted from the corresponding first patella motion trajectory or first femoral motion trajectory;

[0117] The performing difference discrimination processing on the preprocessed patella motion trajectory and the preprocessed femoral motion trajectory to obtain the patella sliding detection value includes:

[0118] Subtracting the preprocessed patella motion trajectory from the preprocessed femoral motion trajectory to obtain a difference trajectory; the difference trajectory includes difference trajectory points;

[0119] Find the difference trajectory points whose modulus values ​​are greater than a set threshold value in the difference trajectory, and construct a set of trajectory points to be processed by using all the found difference trajectory points;

[0120] Performing sliding evaluation processing on the set of trajectory points to be processed to obtain a patellar sliding detection value;

[0121] The calculation expression of the sliding evaluation process is:

[0122]

[0123] Among them, p is the patellar sliding detection value, [x i ′,y i ′,z i ′] is the i-th trajectory point of the set of trajectory points to be processed, M is the number of trajectory points to be processed contained in the set of trajectory points to be processed, and [x0, y0, z0] is a preset standard sliding vector;

[0124] The calculation expression of the modulus value of the difference trajectory point is:

[0125] The position coordinates are three-dimensional position coordinates [x, y, z] in the geodetic coordinate system;

[0126] The outlier elimination process is to eliminate trajectory points whose values ​​are greater than the set value.

[0127] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A patellar sliding rehabilitation device, characterized in that: include: Patella position sensor, femoral position sensor, fixed ring software, muscle relaxation module, leg installation module; The patella position sensor is installed at a position corresponding to the user's patella on a side of the fixed annular software body close to the human body, and is used to collect the user's patella movement trajectory; The femoral position sensor is installed at a position corresponding to the user's femur on a side of the fixed annular software body close to the human body, and is used to collect the user's femoral movement trajectory; The fixed annular soft body is used to be put on the user's knee position; The muscle relaxation module is installed on the leg installation module and is used to relax the muscles and fascia of the user's thigh; The leg installation module includes a rigid plate and a buffer software; the muscle relaxation module is installed on the buffer software, and the buffer software is fitted and connected to the rigid plate; the buffer software is arranged on the side of the user's thigh close to the knee.

2. The patellar sliding rehabilitation device according to claim 1, characterized in that: The patellar sliding rehabilitation device also includes a position detection module; the position detection module is connected to the patellar position sensor and the femoral position sensor respectively, and is used to receive the patellar motion trajectory and the femoral motion trajectory, process the patellar motion trajectory and the femoral motion trajectory, and obtain the patellar sliding detection value.

3. The patellar sliding rehabilitation device according to claim 2, characterized in that: The step of processing the patella motion trajectory and the femoral motion trajectory to obtain a patella sliding detection value includes: Preprocessing the patella motion trajectory and the femur motion trajectory respectively to obtain a preprocessed patella motion trajectory and a preprocessed femur motion trajectory; The preprocessed patella motion trajectory and the preprocessed femoral motion trajectory are subjected to difference discrimination processing to obtain a patella sliding detection value.

4. The patellar sliding rehabilitation device according to claim 3, characterized in that: The preprocessing of the patella motion trajectory and the femur motion trajectory respectively to obtain a preprocessed patella motion trajectory and a preprocessed femur motion trajectory comprises: Performing outlier elimination processing on the patella motion trajectory and the femur motion trajectory respectively to obtain the first patella motion trajectory and the first femur motion trajectory; Performing boundary mixing discrimination processing on the first patella motion trajectory and the first femoral motion trajectory respectively, to obtain a preprocessed patella motion trajectory and a preprocessed femoral motion trajectory respectively; The performing difference discrimination processing on the preprocessed patella motion trajectory and the preprocessed femoral motion trajectory to obtain the patella sliding detection value includes: Subtracting the preprocessed patella motion trajectory from the preprocessed femoral motion trajectory to obtain a difference trajectory; the difference trajectory includes difference trajectory points; Find the difference trajectory points whose modulus values ​​are greater than a set threshold value in the difference trajectory, and construct a set of trajectory points to be processed by using all the found difference trajectory points; Sliding evaluation processing is performed on the set of trajectory points to be processed to obtain a patellar sliding detection value.

5. A method for evaluating patellar function, applied to the patellar sliding rehabilitation device according to any one of claims 2 to 4, characterized in that: include: S1, using a first position sensor disposed on the patella and a second position sensor disposed on the femur, respectively collecting and obtaining a patella motion trajectory and a femur motion trajectory of a human body during knee flexion; S2, preprocessing the patella motion trajectory and the femur motion trajectory respectively to obtain a preprocessed patella motion trajectory and a preprocessed femur motion trajectory; S3, performing difference discrimination processing on the preprocessed patella motion trajectory and the preprocessed femoral motion trajectory to obtain a patellar sliding detection value.

6. The method for evaluating patellar function according to claim 5, characterized in that: The method utilizes a first position sensor disposed on the patella and a second position sensor disposed on the femur to respectively collect and obtain a patella motion trajectory and a femur motion trajectory of a human body during knee joint flexion, comprising: S11, using a first accelerometer sensor disposed on the patella and a second accelerometer sensor disposed on the femur, respectively acquiring position coordinates of the patella and femur of the user at each moment during the knee joint flexion process; S12, arranging the position coordinates of the patella and the femur at all times in chronological order to obtain the patella motion trajectory and the femur motion trajectory respectively; the motion trajectory includes trajectory points and corresponding acquisition time.

7. The method for evaluating patellar function according to claim 5, wherein: The preprocessing of the patella motion trajectory and the femur motion trajectory respectively to obtain a preprocessed patella motion trajectory and a preprocessed femur motion trajectory comprises: Performing outlier elimination processing on the patella motion trajectory and the femur motion trajectory respectively to obtain the first patella motion trajectory and the first femur motion trajectory; The first patella motion trajectory and the first femoral motion trajectory are respectively subjected to boundary mixing discrimination processing to obtain a preprocessed patella motion trajectory and a preprocessed femoral motion trajectory, respectively.

8. The method for evaluating patellar function according to claim 7, wherein: The expression of the boundary mixed discrimination process is: |X1-XA|≤a1, |Y1-YA|≤a2, |Z1-ZA|≤a3, ∣(Z1-ZA)(Y1-YB)∣≤b1, |(X1-XA)(Y1-YB)|≤b2, ∣(X1-XA)(Z1-ZB)∣≤b3, Wherein, (X1, Y1, Z1) are the coordinates of the trajectory points of the first patella motion trajectory or the first femoral motion trajectory, (XA, YA, ZA) are the upper boundary coordinates of the first patella motion trajectory or the first femoral motion trajectory, (XB, YB, ZB) are the lower boundary coordinates of the first patella motion trajectory or the first femoral motion trajectory, a1, a2, a3 are the single discrimination thresholds on the x-axis, y-axis and z-axis of the motion trajectory respectively, b1, b2, b3 are the composite discrimination thresholds on the x-axis, y-axis and z-axis of the motion trajectory respectively; When (X1, Y1, Z1) does not satisfy the expression, the trajectory point corresponding to (X1, Y1, Z1) is deleted from the corresponding first patella motion trajectory or the first femoral motion trajectory.

9. The method for evaluating patellar function according to claim 5, characterized in that: The performing difference discrimination processing on the preprocessed patella motion trajectory and the preprocessed femoral motion trajectory to obtain the patella sliding detection value includes: Subtracting the preprocessed patella motion trajectory from the preprocessed femoral motion trajectory to obtain a difference trajectory; the difference trajectory includes difference trajectory points; Find the difference trajectory points whose modulus values ​​are greater than a set threshold value in the difference trajectory, and construct a set of trajectory points to be processed by using all the found difference trajectory points; Sliding evaluation processing is performed on the set of trajectory points to be processed to obtain a patellar sliding detection value.

10. The method for evaluating patellar function according to claim 9, wherein: The calculation expression of the sliding evaluation process is: Among them, p is the patellar sliding detection value, [x i ′,y i ′,z i ′] is the i-th trajectory point in the set of trajectory points to be processed, M is the number of trajectory points to be processed contained in the set of trajectory points to be processed, and [x0, y0, z0] is a preset standard sliding vector.

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