Pelvic floor rehabilitation training auxiliary system based on virtual reality technology

Abstract

The present invention provides a pelvic floor rehabilitation training auxiliary system based on virtual reality technology, which relates to the field of rehabilitation information processing technology. The system includes: VR equipment, electromyographic signal acquisition equipment, stimulation release equipment and posture acquisition equipment. The VR equipment includes VR glasses and a processor; the stimulation release equipment is used to release electrical stimulation according to the stimulation release instruction of the processor, and the electromyographic signal acquisition equipment is used to collect the electromyographic signal of the pelvic floor muscle; the posture acquisition equipment is a wearable sensor device, which is used to detect the relative position relationship between each wearable sensor device. The processor is used to: determine whether to stimulate the pelvic floor muscle according to the relative position relationship collected by the wearable sensor device, and receive the electromyographic signal detected by the electromyographic signal acquisition device; determine the pelvic floor rehabilitation training effect score according to the electromyographic signal. According to the present invention, the rehabilitation training method can be matched with the actual condition of the user, and the accuracy and effect of muscle training can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation information processing, and in particular to a pelvic floor rehabilitation training auxiliary system based on virtual reality technology. Background Art

[0002] In the related art, CN115602285A relates to a pelvic floor muscle rehabilitation training information management system, method, electronic device and storage medium. The pelvic floor muscle rehabilitation training information management system includes a patient side, a physician side and a hospital side, all of which adopt a microservice architecture; the patient side is used to provide pelvic floor muscle rehabilitation training tasks to patients, collect the pelvic floor muscle rehabilitation training data of the patients, and evaluate the training process and results; the physician side is used to monitor and manage the progress of the pelvic floor muscle rehabilitation training of the patients; the hospital side is used to manage the operation process and results of the physician side and the patient side in each hospital. This solution enables physicians to timely grasp and provide patients with real and effective pelvic floor muscle rehabilitation training data and make timely diagnoses, thereby improving the efficiency of patients' pelvic floor muscle rehabilitation training.

[0003] CN115064245A relates to a medical pelvic floor rehabilitation assessment system based on VR immersion, comprising a head-mounted VR display terminal, an embedded system terminal and medical terminal equipment; the embedded system terminal comprises an acquisition unit and a processing unit; the acquisition unit comprises a multi-channel electromyography acquisition module and an embedded IC; the processing unit comprises an embedded system, an operation control module, a sound control module and a communication module; the head-mounted VR display terminal comprises a display module; the medical terminal equipment comprises an assessment module; it can scientifically and accurately perform screening and assessment guidance, and obtain electromyography images corresponding to the guidance, provide reliable and intuitive basis for further judgment, improve the screening and assessment efficiency, and greatly reduce the burden on medical staff and patients; and the systematic combination introduces the head-mounted VR device, making the training guidance more vivid, intuitive, and resistant to external interference, which is beneficial to improving the accuracy of the guidance, and then improving the accuracy of the final result.

[0004] Therefore, in the related art, although pelvic floor rehabilitation training can be performed and the rehabilitation status of the pelvic floor can be evaluated, it is impossible to accurately guide the user to perform muscle training, nor is it possible to adjust the rehabilitation movements in time. Therefore, the rehabilitation training method in the related art is difficult to match the actual situation of the user, resulting in poor rehabilitation training results and low rehabilitation efficiency.

[0005] The information disclosed in the background technology section of this application is only intended to deepen the understanding of the general background technology of this application, and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to those skilled in the art. Summary of the invention

[0006] The present invention provides a pelvic floor rehabilitation training auxiliary system based on virtual reality technology, which can solve the technical problems that related technologies cannot accurately guide users to perform muscle training and cannot match the actual situation of users.

[0007] According to the present invention, a pelvic floor rehabilitation training auxiliary system based on virtual reality technology is provided, comprising:

[0008] VR equipment, electromyographic signal acquisition equipment, stimulation release equipment, and posture acquisition equipment;

[0009] Wherein, the VR device includes VR glasses and a processor;

[0010] The electromyographic signal acquisition device and the stimulation release device are integrated into one, and are used to be arranged at the location of the pelvic floor muscles. The stimulation release device is used to release electrical stimulation according to the stimulation release instruction of the processor to stimulate the pelvic floor muscles. The electromyographic signal acquisition device is used to collect electromyographic signals of the pelvic floor muscles and transmit them to the processor;

[0011] The posture acquisition device is a wearable sensor device, which is used to be worn at multiple positions of the human body to detect the relative position relationship between the wearable sensor devices and send it to the processor, so that the processor determines the user's posture information through the relative position relationship and displays it through VR glasses;

[0012] The processor is used to:

[0013] Determine whether to stimulate the pelvic floor muscles based on the relative position relationship collected by the wearable sensor device, and receive the electromyographic signal detected by the electromyographic signal collection device; determine the pelvic floor rehabilitation training effect score based on the electromyographic signal.

[0014] Technical effect: According to the present invention, the target posture can be displayed through VR glasses, and the actual posture of the user can be displayed through the combination of posture acquisition equipment and VR glasses, which is convenient for users to adjust their own posture and accurately master rehabilitation movements. And the electrical stimulation can be released by the stimulation release device to accurately guide the muscle force, thereby improving the accuracy and effect of muscle training. Furthermore, electromyographic signals can be collected and the training effect can be evaluated. The rehabilitation movements can also be adjusted in time based on the training effect, so that the rehabilitation training method matches the actual condition of the user, improving the training effect and rehabilitation efficiency. When determining the first stimulation condition, the cosine similarity between the relationship vector between the position of each wearable sensor device and the position of the reference wearable sensor device and the target relationship vector can be determined, and the overall similarity between the user's posture and the target posture can be determined by taking the minimum value, so as to determine whether to release the electrical stimulation, which can improve the accuracy of posture judgment and the accuracy of releasing electrical stimulation. When determining whether to start stimulating the pelvic floor muscles, the user's posture at the jth moment can be set to the specific posture similarity corresponding to the node and the specific posture similarity corresponding to the node, to determine whether the similarity between the user's posture and the specific posture remains above a certain level, and whether the similarity between its own posture and the specific posture has not yet begun to decrease with the progress of the movement. Thus, the purpose of training the pelvic floor muscles to contract when the user's movement reaches a specific posture can be achieved, and the accuracy and pertinence of the training can be improved. When determining the pelvic floor muscle strength training effect score, the conditional function can be used to determine whether the difference in the electromyographic signal when not contracted and when contracted is significant, so as to determine the strength of the pelvic floor muscles and the effect of strength training, and improve the accuracy and objectivity of the pelvic floor muscle strength training effect score. When determining the pelvic floor muscle reaction speed training effect score, the reaction speed and flexibility of the pelvic floor muscles can be comprehensively evaluated by the reaction speed of the pelvic floor muscles after electrical stimulation, the speed of mastering the force law, and the speed of tightening the muscles, so that the pelvic floor muscle reaction speed training effect score can objectively and accurately describe the reaction speed of the pelvic floor muscles and the training effect on the reaction speed.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only and do not limit the present invention. Other features and aspects of the present invention will become more apparent from the following detailed description of exemplary embodiments with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other embodiments can be obtained based on these drawings without creative work.

[0017] Figure 1 A schematic diagram of a pelvic floor rehabilitation training auxiliary system based on virtual reality technology according to an embodiment of the present invention is exemplarily shown. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0020] Figure 1 A schematic diagram of a pelvic floor rehabilitation training auxiliary system based on virtual reality technology according to an embodiment of the present invention is exemplarily shown, wherein the system comprises:

[0021] VR equipment, electromyographic signal acquisition equipment, stimulation release equipment, and posture acquisition equipment;

[0022] Wherein, the VR device includes VR glasses and a processor;

[0023] The electromyographic signal acquisition device and the stimulation release device are integrated into one, and are used to be arranged at the location of the pelvic floor muscles. The stimulation release device is used to release electrical stimulation according to the stimulation release instruction of the processor to stimulate the pelvic floor muscles. The electromyographic signal acquisition device is used to collect electromyographic signals of the pelvic floor muscles and transmit them to the processor;

[0024] The posture acquisition device is a wearable sensor device, which is used to be worn at multiple positions of the human body to detect the relative position relationship between the wearable sensor devices and send it to the processor, so that the processor determines the user's posture information through the relative position relationship and displays it through VR glasses;

[0025] The processor is used to:

[0026] Determine whether to stimulate the pelvic floor muscles based on the relative position relationship collected by the wearable sensor device, and receive the electromyographic signal detected by the electromyographic signal collection device; determine the pelvic floor rehabilitation training effect score based on the electromyographic signal.

[0027] According to the pelvic floor rehabilitation training auxiliary system based on virtual reality technology of the embodiment of the present invention, the target posture can be displayed through VR glasses, and the actual posture of the user can be displayed through the combination of posture acquisition equipment and VR glasses, so as to facilitate the user to adjust his own posture and accurately master the rehabilitation movements. And the electrical stimulation can be released by the stimulation release device to accurately guide the muscle force, thereby improving the accuracy and effect of muscle training. Furthermore, electromyographic signals can be collected and the training effect can be evaluated. The rehabilitation movements can also be adjusted in time based on the training effect, so that the rehabilitation training method matches the actual condition of the user, and the training effect and rehabilitation efficiency are improved.

[0028] According to one embodiment of the present invention, a VR device includes VR glasses and a processor. The processor can be integrated into the VR glasses to collect and analyze data collected by an electromyography signal acquisition device and a posture acquisition device, and control the VR glasses to display corresponding content. Furthermore, the processor can also communicate with a cloud platform, send data to the cloud platform, and receive data sent by the cloud platform.

[0029] Determine whether to stimulate the pelvic floor muscles based on the relative position relationship collected by the wearable sensor device, including:

[0030] After the user has put on the VR glasses and the posture acquisition device, set up the electromyographic signal acquisition device and the stimulation release device, and input the instruction to start training, the VR glasses are controlled to display the rehabilitation action selection interface;

[0031] After receiving the user's selection instruction for the rehabilitation action, the VR glasses are controlled to display the target posture;

[0032] Determine whether to stimulate the pelvic floor muscles according to the relative position relationship and target posture collected by the wearable sensor device;

[0033] When it is determined that the pelvic floor muscles are to be stimulated, the stimulation release device is controlled to release electrical stimulation according to the preset intensity and frequency.

[0034] The processor is further configured to:

[0035] Determining whether the rehabilitation movements need to be adjusted according to the pelvic floor rehabilitation training effect score;

[0036] If the rehabilitation action needs to be adjusted, the pelvic floor rehabilitation training effect score is sent to the cloud platform, and a new rehabilitation action sent by the cloud platform is received.

[0037] According to one embodiment of the present invention, the VR device may also include other input devices and output devices, such as a microphone and an audio device. The microphone may be used to receive instructions from the user, and the audio device may be used to output sound signals to remind the user or convey some information to the user.

[0038] According to one embodiment of the present invention, the electromyographic signal acquisition device and the stimulation release device are integrated into one, and can communicate with the processor of the VR device. The electromyographic signal acquisition device can transmit the collected electromyographic signals to the processor, and the stimulation release device can receive the instructions of the processor and release electrical stimulation. The electromyographic signal acquisition device and the stimulation release device can be integrated into the shape of a patch or a cylindrical shape to be attached near the anus or enter the anus or other organs to stimulate the pelvic floor muscles such as the sphincter and collect the electromyographic signals of the pelvic floor muscles. The number of patches can be multiple, so as to stimulate multiple muscles and collect the electromyographic signals of multiple muscles.

[0039] According to one embodiment of the present invention, the posture acquisition device may include multiple wearable sensor devices, for example, position detection devices that can be worn on the waist, knees, ankles and other parts, which can detect the relative position relationship between each other, for example, the relative position of the wearable sensor devices at the knees and ankles relative to the wearable sensor device at the waist. The wearable sensor device may include a micro inertial navigation device, a Hall sensor, etc., which can be used to detect the position data of the wearable sensor device, and then obtain the relative position relationship between the multiple wearable sensor devices. The relative position relationship can be a position vector between each other, and the processor can determine the relative position relationship between the user's waist, knees and ankles based on the position vector, and then determine the user's posture information. VR glasses can also be controlled to display the user's posture information, so that the user can adjust his or her own posture based on the posture information displayed on the VR glasses, so as to make more standard movements and postures during rehabilitation training.

[0040] According to one embodiment of the present invention, the user can wear VR glasses and put on the posture acquisition device. It is also necessary to place the electromyographic signal acquisition device and the stimulation release device in the correct position, for example, the integrated patch is attached to the skin near the pelvic floor muscle to complete the preparation. Subsequently, the input device such as the microphone of the VR device can be turned on, and the instruction to start training can be input, and the processor can control the VR glasses to display the rehabilitation action selection interface. The rehabilitation action selection interface may include a variety of rehabilitation actions to choose from, which can be rehabilitation actions pre-designed and stored in the memory of the VR glasses, or rehabilitation actions sent by the cloud platform. In addition, these rehabilitation actions can match the actual situation of the user. For example, if the user uses the system for rehabilitation training for the first time after surgery, the rehabilitation action can be a less difficult action with a smaller movement amplitude and a slower movement rate. If the user uses the system for rehabilitation training many times and the training effect is good, the cloud platform will send a rehabilitation action with a higher difficulty, a larger movement amplitude and a faster movement rate, thereby increasing the training intensity and improving the rehabilitation efficiency.

[0041] According to one embodiment of the present invention, the user can select a rehabilitation action through an input device such as a microphone. For example, the processor can convert the sound signal collected by the microphone into a rehabilitation action selection instruction, and control the VR glasses to display the target posture corresponding to the selected rehabilitation action based on the rehabilitation action selection instruction. The rehabilitation action may include multiple target postures. For example, the rehabilitation action may include an action flow of multiple target postures, such as first raising the legs and contracting the pelvic floor muscles, then switching to a squatting position and contracting the pelvic floor muscles, then switching to a sitting position and contracting the pelvic floor muscles, etc. After the user completes a step in the action flow, the VR glasses can switch to the next step, that is, display the next target posture, and wait for the user to make his or her posture reach the target posture and complete the step of contracting the pelvic floor muscles. The VR glasses continue to switch to the next step until all target postures are displayed, and this rehabilitation training can be ended.

[0042] According to one embodiment of the present invention, the processor can control the stimulation release device to release electrical stimulation to stimulate the skin near the pelvic floor muscles, thereby guiding the user to exert force to contract the pelvic floor muscles, that is, the user's pelvic floor muscles are stimulated by electrical stimulation, thereby informing the user of the position where the force needs to be exerted to guide the user to exert force. However, the electrical stimulation does not always remain in a released state, but is released when the user's posture is close to or consistent with the target posture, thereby training the user to flexibly contract and control the pelvic floor muscles when in a specific posture. For example, when the user is in a squatting position, the electrical stimulation is released to guide the user to exert force and train the pelvic floor muscles to contract, thereby training the user's ability to perform autonomous defecation after surgery.

[0043] According to one embodiment of the present invention, determining whether to stimulate the pelvic floor muscles is performed based on the relative position relationship and target posture received by the wearable sensor device, including: selecting a stimulation mode according to the type of target posture; determining the target relative position relationship between the wearable sensor devices when releasing electrical stimulation according to the target posture; determining whether to stimulate the pelvic floor muscles based on the stimulation mode, the target relative position relationship, and the relative position relationship received in real time and collected by the wearable sensor device.

[0044] According to one embodiment of the present invention, the target posture may be a static posture or a dynamic posture. For example, as described above, the target posture may be a squatting posture, which may stimulate the pelvic floor muscles when the user is in a squatting posture, and train the user to flexibly contract the pelvic floor muscles when in a squatting posture. The target posture may also be a dynamic posture. For example, the target posture is a posture during normal walking, which may stimulate the pelvic floor muscles when the user is walking normally, and train the user to flexibly contract the pelvic floor muscles during dynamic walking.

[0045] According to one embodiment of the present invention, correspondingly, the stimulation mode may also include a static stimulation mode and a dynamic stimulation mode. In the static stimulation mode, the electrical stimulation is released only when the user reaches the target posture (for example, the similarity with the target posture is high), so that the user is electrically stimulated and trained to contract the pelvic floor muscles while maintaining the target posture. In the dynamic stimulation mode, some specific postures can be selected as nodes in the dynamic target posture. When the dynamic posture of the user reaches a certain similarity with the specific posture corresponding to the node, and as the user's movements proceed, the similarity between the dynamic posture and the specific posture corresponding to the node becomes higher and higher, the electrical stimulation can be released to train the user's ability to contract the pelvic floor muscles during activities.

[0046] According to one embodiment of the present invention, in the static stimulation mode, the limb posture corresponding to the static target posture can be determined, and the target relative position relationship between each wearable sensor device can be determined based on the limb posture. For example, when the target posture is a squatting posture, the relative position relationship between the waist, knees and ankles in the squatting posture can be determined, thereby determining the target relative position relationship between the wearable sensor devices at the waist, knees and ankles. In the dynamic stimulation mode, the specific posture corresponding to the above-mentioned node can be determined, and the limb posture corresponding to the specific posture can be determined, thereby determining the target relative position relationship between each wearable sensor device based on the limb posture.

[0047] According to an embodiment of the present invention, the wearable sensor device includes a reference wearable sensor device and a plurality of wearable sensor devices; wherein, according to the stimulation mode, the relative position relationship of the target, and the relative position relationship collected by the wearable sensor device received in real time, determining whether to stimulate the pelvic floor muscles comprises: when the type of the target posture is a static posture and the stimulation mode is a static stimulation mode, determining the first stimulation condition according to formula (1): ,

[0048] (1),

[0049] in, is a relationship vector between the position of the i-th wearable sensor device and the position of the reference wearable sensor device determined based on the relative position relationship, is a target relationship vector between the position of the i-th wearable sensor device and the position of the reference wearable sensor device determined based on the target relative position relationship, is the preset first similarity, for The transposed vector of , min is the minimum function, n is the number of other wearable sensor devices except the reference wearable sensor device, i≤n, and i and n are both positive integers; when the relative position relationship satisfies the first stimulation condition, it is determined to stimulate the pelvic floor muscles.

[0050] According to one embodiment of the present invention, in formula (1), is the cosine similarity between the relationship vector between the position of the i-th wearable sensor device and the position of the reference wearable sensor device and the target relationship vector. As described above, electrical stimulation is released only when the similarity between the user's posture and the target posture is high, so the first similarity can be set to a higher value, for example, 80%. If the minimum value of the cosine similarities corresponding to multiple wearable sensor devices is greater than or equal to the first similarity, it means that the cosine similarities corresponding to all wearable sensor devices are greater than or equal to the first similarity. In other words, the similarity between the relationship vector between the position of all wearable sensor devices and the position of the reference wearable sensor device and the target relationship vector is high. In this case, the user's posture is consistent with or highly similar to the target posture. It can be considered that the user's posture has reached the target posture and electrical stimulation can be released. That is, when the relative position relationship satisfies the first stimulation condition, it is determined to stimulate the pelvic floor muscles.

[0051] In this way, the cosine similarity between the relationship vector between the position of each wearable sensor device and the position of the benchmark wearable sensor device and the target relationship vector can be determined, and the overall similarity between the user's posture and the target posture can be determined by taking the minimum value, so as to judge whether to release the electrical stimulation, which can improve the accuracy of posture judgment and the accuracy of releasing electrical stimulation.

[0052] According to an embodiment of the present invention, the wearable sensor device includes a reference wearable sensor device and a plurality of wearable sensor devices; wherein, according to the stimulation mode, the target relative position relationship, and the relative position relationship collected by the wearable sensor device received in real time, determining whether to stimulate the pelvic floor muscles comprises: when the type of the target posture is a dynamic posture and the stimulation mode is a dynamic stimulation mode, determining the second stimulation condition according to formula (2): , the third stimulus condition and the fourth stimulus condition ,

[0053] (2),

[0054] in, is the relationship vector between the position of the i-th wearable sensor device and the position of the reference wearable sensor device determined based on the relative position relationship collected at the j-th moment, for The transposed vector of is a target relationship vector between the position of the ith wearable sensor device and the position of the reference wearable sensor device determined based on the target relative position relationship, is the preset second similarity, is the relationship vector between the position of the i-th wearable sensor device and the position of the reference wearable sensor device determined based on the relative position relationship collected at the j-1-th moment, for , min is the minimum function, n is the number of other wearable sensor devices except the reference wearable sensor device, i≤n, and i and n are both positive integers; when the relative position relationship satisfies the second stimulation condition, the third stimulation condition and the fourth stimulation condition at the same time, it is determined to stimulate the pelvic floor muscles.

[0055] According to one embodiment of the present invention, in formula (2), That is, the target relationship vector between the position of the i-th wearable sensor device determined based on the specific posture corresponding to the above node and the position of the reference wearable sensor device, represents the cosine similarity between the relationship vector between the position of the ith wearable sensor device and the position of the reference wearable sensor device and the target relationship vector at the jth moment. The preset second similarity can be set to a value lower than the first similarity, for example, 70%. This means that at the jth moment, the cosine similarity between the relationship vector between the position of all wearable sensor devices and the position of the reference wearable sensor device and the target relationship vector is high, that is, at the jth moment, the user's posture has a high similarity with the specific posture corresponding to the node. Similarly, This means that at the j-1th moment, the cosine similarity between the relationship vector between the position of all wearable sensor devices and the position of the reference wearable sensor device and the target relationship vector is high, indicating that at the j-1th moment, the user's posture has a high similarity with the specific posture corresponding to the node. Further, It means that the similarity between the user's posture at the jth moment and the specific posture corresponding to the node is higher than the similarity between the user's posture at the j-1th moment and the specific posture corresponding to the node. When the second stimulation condition, the third stimulation condition and the fourth stimulation condition are met at the same time, it means that the user's posture and the specific posture corresponding to the node have reached a certain similarity, and as the user's movements proceed, the similarity between his dynamic posture and the specific posture corresponding to the node becomes higher and higher. At this time, electrical stimulation can be released, so that during the exercise, the user's own posture and the specific posture are kept at a certain level. Before the similarity between his own posture and the specific posture begins to decrease as the exercise proceeds, he is electrically stimulated and reacts accordingly during this time period, that is, contracts the pelvic floor muscles, thereby achieving the purpose of training the pelvic floor muscles to contract when the user reaches a specific posture during the exercise.

[0056] In this way, by setting the similarity between the user's posture at the jth moment and the specific posture corresponding to the node and the similarity between the user's posture at the jth moment and the specific posture corresponding to the node, it can be determined whether the similarity between the user's posture and the specific posture remains above a certain level, and whether the similarity between the user's posture and the specific posture has not begun to decrease as the exercise proceeds. This can achieve the purpose of training the pelvic floor muscle contraction when the user reaches a specific posture during exercise, and improve the accuracy and pertinence of the training.

[0057] According to one embodiment of the present invention, when it is determined that the pelvic floor muscles are to be stimulated, the stimulation release device is controlled to release electrical stimulation according to a preset intensity and frequency. The preset intensity and frequency may correspond to the selected rehabilitation action. For example, when receiving rehabilitation training for the first time after surgery, the pelvic floor muscles are not strong enough and are insensitive to stimulation, so a higher intensity and frequency may be used to release electrical stimulation. After multiple rehabilitation trainings, if the pelvic floor muscles recover well, a lower intensity and frequency may be used to release electrical stimulation.

[0058] According to one embodiment of the present invention, the electromyographic signal acquisition device can acquire the electromyographic signal of the pelvic floor muscles for observing the contraction of the pelvic floor muscles. For example, electrical stimulation can guide the exertion of force, that is, after the user feels that a certain part is electrically stimulated, the muscles in that part can be contracted, for example, the muscles of the pelvic floor muscles can be contracted. When the muscles contract, the electromyographic signal can change compared to when they are not contracted, and there is a positive correlation between the contraction strength and the amplitude of the electromyographic signal. Therefore, the contraction of the pelvic floor muscles can be determined based on the electromyographic signal.

[0059] According to one embodiment of the present invention, the pelvic floor rehabilitation training effect score is determined based on the electromyographic signal, including: determining the release time of the electrical stimulation; determining the amplitude of the first electromyographic signal collected by multiple electromyographic signal acquisition devices at multiple times before the release time, and the amplitude of the second electromyographic signal collected by multiple electromyographic signal acquisition devices at multiple times after the release time; determining the pelvic floor muscle strength training effect score based on the amplitude of the first electromyographic signal and the amplitude of the second electromyographic signal; determining the pelvic floor muscle reaction speed training effect score based on the amplitude of the second electromyographic signal, the time corresponding to the second electromyographic signal and the release time; determining the pelvic floor rehabilitation training effect score based on the pelvic floor muscle strength training effect score and the pelvic floor muscle reaction speed training effect score.

[0060] According to one embodiment of the present invention, the processor can continuously acquire the electromyographic signals collected by the electromyographic signal acquisition device and determine the release time of the electrical stimulation, thereby screening out the amplitudes of the first electromyographic signals collected by multiple electromyographic signal acquisition devices at multiple times before the release time, and the amplitudes of the second electromyographic signals collected by multiple electromyographic signal acquisition devices at multiple times after the release time.

[0061] According to an embodiment of the present invention, the pelvic floor muscle strength training effect score is determined according to the amplitude of the first electromyographic signal and the amplitude of the second electromyographic signal, including: determining the pelvic floor muscle strength training effect score according to formula (3): ,

[0062] (3),

[0063] in, is the amplitude of the second electromyographic signal collected by the sth electromyographic signal collection device at the kth moment after the release moment, is the amplitude of the first electromyographic signal collected by the sth electromyographic signal collection device at the tth moment before the release moment, is the preset multiple, max is the maximum value function, if is the conditional function, is the number of moments before the release moment, is the number of multiple moments after the release moment, m is the number of electromyographic signal acquisition devices, k≤ , t≤ , s≤m, and k, ,t, , s and m are all positive integers.

[0064] According to one embodiment of the present invention, in formula (3), Indicated in In the case of , otherwise 0. The maximum amplitude of the electromyographic signal during multiple moments of electrically stimulated and attempted contraction of the pelvic floor muscles can be used to represent the strongest contraction force. It represents the average amplitude of the electromyographic signal when the pelvic floor muscles are not tried to contract before being electrically stimulated. In the case of a large contraction force, the ratio of the two should be large. Therefore, if the ratio of the two is small (less than the preset multiple), it means that the contraction force of the pelvic floor muscles is small, and the change in the electromyographic signal amplitude relative to the time when no contraction is performed is not significant, the muscle strength is poor, and the training effect is not good. The value of the conditional function can be set to 0. Otherwise, the conditional function value can be set to the relative difference between the above ratio and the preset multiple. The greater the contraction force of the pelvic floor muscles, the more significant the difference in the electromyographic signal amplitude from the time when no contraction is performed, and the larger the conditional function value, indicating that the muscles are stronger and the training effect is better. Furthermore, the average value of the conditional function values ​​corresponding to multiple electromyographic signal acquisition devices can be used as the pelvic floor muscle strength training effect score, thereby describing the overall strength status of multiple pelvic floor muscles and the overall strength training effect.

[0065] In this way, a conditional function can be used to determine whether the difference in electromyographic signals between when there is no contraction and when there is contraction is significant, thereby determining the strength of the pelvic floor muscles and the effect of strength training, and improving the accuracy and objectivity of the pelvic floor muscle strength training effect scoring.

[0066] According to an embodiment of the present invention, the pelvic floor muscle reaction speed training effect score is determined according to the amplitude of the second electromyographic signal, the time corresponding to the second electromyographic signal and the release time, including: determining the candidate condition of the reaction start time corresponding to the sth electromyographic signal acquisition device according to formula (4): ,

[0067] (4),

[0068] in, is the amplitude of the second myoelectric signal collected by the sth myoelectric signal collection device at the k-1th moment after the release moment, is the time interval between adjacent moments, is a preset change rate threshold; among the moments after the release moment and meeting the candidate conditions for the reaction start moment, the minimum value is selected as the reaction start moment; among the multiple moments after the release moment, the minimum value is selected as the reaction start moment. The moment when the amplitude of the second electromyographic signal reaches the maximum value is taken as the moment of strong reaction; among the multiple moments after the release moment, the moment when the amplitude of the second electromyographic signal reaches the maximum value is selected as the moment of contraction completion; the pelvic floor muscle reaction speed training effect score is determined according to formula (5) ,

[0069] (5),

[0070] in, is the reaction start time corresponding to the sth electromyographic signal acquisition device, is the first preset time threshold, is the strong reaction time corresponding to the sth electromyographic signal acquisition device, is the second preset time threshold, is the contraction completion time corresponding to the sth electromyographic signal acquisition device, is the third preset time threshold.

[0071] According to one embodiment of the present invention, the user may have a weakened ability to control the pelvic floor muscles due to surgery or other reasons, and may find it difficult to react quickly after receiving electrical stimulation. Therefore, there may be a certain time difference between receiving electrical stimulation and starting to contract the pelvic floor muscles, that is, the time when the pelvic floor muscles start to contract is not the time when the electrical stimulation is released, and the greater the difference between the two, the worse the user's ability to control the pelvic floor muscles, the lower the flexibility, and the slower the reaction. Therefore, the time to start contracting the pelvic floor muscles can be screened by formula (4). Represents the rate of change of the EMG signal amplitude between two moments. If the rate of change exceeds the preset rate of change threshold, it means that the EMG signal begins to increase, and the kth moment is a candidate moment for the start of the reaction. That is, there may be multiple moments with large rates of change of the EMG signal amplitude. These moments can be selected and the minimum value among them, that is, the moment when the EMG signal amplitude change rate appears for the first time, is selected as the start of the reaction. This moment can be considered as the moment when the user responds to the electrical stimulation and begins to contract the pelvic floor muscles.

[0072] According to one embodiment of the present invention, The moment when the maximum value is reached can be considered as the moment when the user's reaction to the electrical stimulation is the strongest, that is, the user feels the control method of the pelvic floor muscles through electrical stimulation and responds quickly and contracts the pelvic floor muscles. In this case, the contraction force will increase, and the moment when the increase is the largest is the moment when the above ratio reaches the maximum value, which is also the moment when the reaction to the electrical stimulation is the strongest, that is, the moment of strong reaction.

[0073] According to one embodiment of the present invention, the user tries his best to contract the pelvic floor muscles for rehabilitation training. When the contraction force reaches the maximum value, the amplitude of the second electromyographic signal reaches the maximum value. Thereafter, the contraction force can be gradually reduced and the muscles can be relaxed. Therefore, the moment when the amplitude of the second electromyographic signal reaches the maximum value is the end moment of this contraction action, that is, the contraction completion moment.

[0074] According to one embodiment of the present invention, in formula (5), It can be expressed if , then the conditional function value is 1, otherwise .if , Indicates the number of moments corresponding to the first preset time threshold. If the reaction start time is less than the number of moments, it means that the reaction speed of the pelvic floor muscles is faster, the control flexibility of the pelvic floor muscles is higher, and the reaction speed training effect is better. Therefore, the conditional function value is 1. Otherwise, it can be used As the conditional function value, the larger the interval between the start of the reaction and the release of the electrical stimulation, the smaller the conditional function value, which means that the reaction speed of the pelvic floor muscles is slower, the control flexibility of the pelvic floor muscles is lower, and the reaction speed training effect is worse.

[0075] According to one embodiment of the present invention, Indicated in When , the conditional function value is 1, otherwise .if , it means that after the contraction begins, the user masters the force law at a faster speed, which means that the pelvic floor muscles react faster, the control flexibility of the pelvic floor muscles is higher, and the reaction speed training effect is better. Therefore, the conditional function value is 1. Otherwise, you can use As the conditional function value, the larger the interval between the moment of strong reaction and the moment of reaction start, the smaller the conditional function value, which means that the speed of mastering the force law is slower, the flexibility of controlling the pelvic floor muscles is lower, and the reaction speed training effect is worse.

[0076] According to one embodiment of the present invention, Indicated in When , the conditional function value is 1, otherwise .if , which means that after the contraction begins, the user reaches the maximum contraction force at a faster speed, that is, the muscles can be tightened quickly, indicating that the pelvic floor muscles react faster, the control flexibility of the pelvic floor muscles is higher, and the reaction speed training effect is better. Therefore, the conditional function value is 1. Otherwise, you can use As the conditional function value, the larger the interval between the contraction completion time and the reaction start time, the smaller the conditional function value, which means the slower the muscle tightening speed, the lower the control flexibility of the pelvic floor muscles, and the worse the reaction speed training effect.

[0077] According to one embodiment of the present invention, the above three conditional function values ​​can be multiplied to obtain the reaction speed score of the pelvic floor muscles at the sth electromyographic signal acquisition device, and the reaction speed scores corresponding to each electromyographic signal acquisition device can be averaged to obtain the pelvic floor muscle reaction speed training effect score, which is used to represent the overall flexibility of multiple pelvic floor muscles and the overall reaction speed training effect.

[0078] In this way, the reaction speed and flexibility of the pelvic floor muscles can be comprehensively evaluated through three aspects: the reaction speed of the pelvic floor muscles after electrical stimulation, the speed of mastering the force pattern, and the speed of tightening the muscles. This makes the pelvic floor muscle reaction speed training effect score able to objectively and accurately describe the reaction speed of the pelvic floor muscles and the training effect on the reaction speed.

[0079] According to one embodiment of the present invention, the pelvic floor muscle strength training effect score and the pelvic floor muscle reaction speed training effect score may be weighted and summed to obtain the pelvic floor rehabilitation training effect score, thereby comprehensively evaluating the rehabilitation training effect of the pelvic floor muscles from the two aspects of pelvic floor muscle strength and flexibility.

[0080] According to one embodiment of the present invention, it can be determined whether the rehabilitation action needs to be adjusted according to the pelvic floor rehabilitation training effect score. For example, if the pelvic floor rehabilitation training effect score is very high, close to full marks (higher than the first score threshold, for example, higher than 85%), or the pelvic floor rehabilitation training effect score is very low (lower than the second score threshold, for example, lower than 60%), it can be determined that the rehabilitation action needs to be adjusted. If the pelvic floor rehabilitation training effect score is very high, it means that the current rehabilitation action is relatively simple for the user, and the pelvic floor rehabilitation training effect score can be sent to the cloud platform, and the cloud platform can select a more difficult rehabilitation action based on the pelvic floor rehabilitation training effect score and send it to the processor of the VR device. For example, the higher the pelvic floor rehabilitation training effect score, the more difficult the rehabilitation action (the larger the movement amplitude and the faster the movement frequency) is selected. If the pelvic floor rehabilitation training effect score is very low, it means that the current rehabilitation action is difficult for the user, and the pelvic floor rehabilitation training effect score can be sent to the cloud platform, and the cloud platform can select a less difficult rehabilitation action based on the pelvic floor rehabilitation training effect score and send it to the processor of the VR device. For example, the lower the pelvic floor rehabilitation training effect score, the less difficult the rehabilitation action (the smaller the movement amplitude and the lower the movement frequency) is selected. After selecting a new rehabilitation movement, it can be sent to the processor of the VR device, so that the user can use the new rehabilitation movement for rehabilitation training.

[0081] According to the pelvic floor rehabilitation training auxiliary system based on virtual reality technology according to the embodiment of the present invention, the target posture can be displayed through VR glasses, and the actual posture of the user can be displayed through the combination of posture acquisition equipment and VR glasses, so that the user can adjust his own posture and accurately master the rehabilitation movements. And the electrical stimulation can be released by the stimulation release device to accurately guide the muscle force, thereby improving the accuracy and effect of muscle training. Further, the electromyographic signal can be collected, and the training effect can be evaluated. The rehabilitation movement can also be adjusted in time based on the training effect, so that the rehabilitation training method matches the actual condition of the user, and the training effect and rehabilitation efficiency are improved. When determining the first stimulation condition, the cosine similarity between the relationship vector between the position of each wearable sensor device and the position of the reference wearable sensor device and the target relationship vector can be determined, and the overall similarity between the user's posture and the target posture can be determined by taking the minimum value, so as to determine whether to release the electrical stimulation, which can improve the accuracy of posture judgment and the accuracy of releasing electrical stimulation. When determining whether to start stimulating the pelvic floor muscles, the user's posture at the jth moment can be set to the specific posture similarity corresponding to the node and the specific posture similarity corresponding to the node, to determine whether the similarity between the user's posture and the specific posture remains above a certain level, and whether the similarity between its own posture and the specific posture has not yet begun to decrease with the progress of the movement. Thus, the purpose of training the pelvic floor muscles to contract when the user's movement reaches a specific posture can be achieved, and the accuracy and pertinence of the training can be improved. When determining the pelvic floor muscle strength training effect score, the conditional function can be used to determine whether the difference in the electromyographic signal when not contracted and when contracted is significant, so as to determine the strength of the pelvic floor muscles and the effect of strength training, and improve the accuracy and objectivity of the pelvic floor muscle strength training effect score. When determining the pelvic floor muscle reaction speed training effect score, the reaction speed and flexibility of the pelvic floor muscles can be comprehensively evaluated by the reaction speed of the pelvic floor muscles after electrical stimulation, the speed of mastering the force law, and the speed of tightening the muscles, so that the pelvic floor muscle reaction speed training effect score can objectively and accurately describe the reaction speed of the pelvic floor muscles and the training effect on the reaction speed.

[0082] It should be understood by those skilled in the art that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and explained in the embodiments, and the embodiments of the present invention may be deformed or modified in any way without departing from the principles.

[0083] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pelvic floor rehabilitation training auxiliary system based on virtual reality technology, characterized in that: include: VR equipment, electromyographic signal acquisition equipment, stimulation release equipment, and posture acquisition equipment; Wherein, the VR device includes VR glasses and a processor; The electromyographic signal acquisition device and the stimulation release device are integrated into one, and are used to be arranged at the location of the pelvic floor muscles. The stimulation release device is used to release electrical stimulation according to the stimulation release instruction of the processor to stimulate the pelvic floor muscles. The electromyographic signal acquisition device is used to collect electromyographic signals of the pelvic floor muscles and transmit them to the processor; The posture acquisition device is a wearable sensor device, which is used to be worn at multiple positions of the human body to detect the relative position relationship between the wearable sensor devices and send it to the processor, so that the processor determines the user's posture information through the relative position relationship and displays it through VR glasses; The processor is used to: Determine whether to stimulate the pelvic floor muscles according to the relative position relationship collected by the wearable sensor device, and receive the electromyographic signal detected by the electromyographic signal collection device; determine the pelvic floor rehabilitation training effect score according to the electromyographic signal; Determine whether to stimulate the pelvic floor muscles based on the relative position relationship collected by the wearable sensor device, including: After the user has put on the VR glasses and the posture acquisition device, set up the electromyographic signal acquisition device and the stimulation release device, and input the instruction to start training, the VR glasses are controlled to display the rehabilitation action selection interface; After receiving the user's selection instruction for the rehabilitation action, the VR glasses are controlled to display the target posture; Determine whether to stimulate the pelvic floor muscles according to the relative position relationship and target posture collected by the wearable sensor device; When it is determined that the pelvic floor muscles are to be stimulated, the stimulation release device is controlled to release electrical stimulation according to a preset intensity and frequency; Determine whether to stimulate the pelvic floor muscles according to the relative position relationship and target posture collected by the wearable sensor device, including: Depending on the type of target posture, the stimulation mode was selected; Determining, based on the target posture, a target relative position relationship between wearable sensor devices when releasing the electrical stimulation; Determining whether to stimulate the pelvic floor muscles according to the stimulation mode, the relative position relationship of the targets, and the relative position relationship collected by the wearable sensor device received in real time; The wearable sensor device includes a reference wearable sensor device and a plurality of wearable sensor devices; Wherein, determining whether to stimulate the pelvic floor muscles according to the stimulation mode, the relative position relationship of the target, and the relative position relationship collected by the wearable sensor device received in real time includes: When the target posture type is a static posture and the stimulation mode is a static stimulation mode, according to the formula ， Determine the first stimulus condition ,in, is a relationship vector between the position of the i-th wearable sensor device and the position of the reference wearable sensor device determined based on the relative position relationship, is a target relationship vector between the position of the i-th wearable sensor device and the position of the reference wearable sensor device determined based on the target relative position relationship, is the preset first similarity, for The transposed vector of , min is the minimum value function, n is the number of other wearable sensor devices except the reference wearable sensor device, i≤n, and i and n are both positive integers; When the relative position relationship satisfies the first stimulation condition, it is determined to stimulate the pelvic floor muscles.

2. The pelvic floor rehabilitation training auxiliary system based on virtual reality technology according to claim 1 is characterized in that: The processor is further configured to: Determining whether the rehabilitation movements need to be adjusted according to the pelvic floor rehabilitation training effect score; If the rehabilitation action needs to be adjusted, the pelvic floor rehabilitation training effect score is sent to the cloud platform, and a new rehabilitation action sent by the cloud platform is received.

3. The pelvic floor rehabilitation training auxiliary system based on virtual reality technology according to claim 1 is characterized in that: The wearable sensor device includes a reference wearable sensor device and a plurality of wearable sensor devices; Wherein, determining whether to stimulate the pelvic floor muscles according to the stimulation mode, the relative position relationship of the target, and the relative position relationship collected by the wearable sensor device received in real time includes: When the target posture type is a dynamic posture and the stimulation mode is a dynamic stimulation mode, according to the formula ， Determine the second stimulus condition , the third stimulus condition and the fourth stimulus condition ,in, is the relationship vector between the position of the i-th wearable sensor device and the position of the reference wearable sensor device determined based on the relative position relationship collected at the j-th moment, for The transposed vector of is a target relationship vector between the position of the i-th wearable sensor device and the position of the reference wearable sensor device determined based on the target relative position relationship, is the preset second similarity, is the relationship vector between the position of the i-th wearable sensor device and the position of the reference wearable sensor device determined based on the relative position relationship collected at the j-1-th moment, for The transposed vector of , min is the minimum value function, n is the number of other wearable sensor devices except the reference wearable sensor device, i≤n, and i and n are both positive integers; When the relative position relationship satisfies the second stimulation condition, the third stimulation condition and the fourth stimulation condition at the same time, it is determined that the pelvic floor muscles are stimulated.

4. The pelvic floor rehabilitation training auxiliary system based on virtual reality technology according to claim 1 is characterized in that: According to the electromyographic signal, a pelvic floor rehabilitation training effect score is determined, including: Determine the release moment of the electrical stimulation; Determine the amplitudes of the first electromyographic signals collected by the multiple electromyographic signal collection devices at multiple moments before the release moment, and the amplitudes of the second electromyographic signals collected by the multiple electromyographic signal collection devices at multiple moments after the release moment; Determining a pelvic floor muscle strength training effect score according to the amplitude of the first electromyographic signal and the amplitude of the second electromyographic signal; Determining a pelvic floor muscle reaction speed training effect score according to the amplitude of the second electromyographic signal, the time corresponding to the second electromyographic signal, and the release time; A pelvic floor rehabilitation training effect score is determined according to the pelvic floor muscle strength training effect score and the pelvic floor muscle reaction speed training effect score.

5. The pelvic floor rehabilitation training auxiliary system based on virtual reality technology according to claim 4 is characterized in that: Determining a pelvic floor muscle strength training effect score according to the amplitude of the first electromyographic signal and the amplitude of the second electromyographic signal, comprising: According to the formula ， Determining the effectiveness score of pelvic floor muscle strength training ,in, is the amplitude of the second myoelectric signal collected by the sth myoelectric signal collection device at the kth moment after the release moment, is the amplitude of the first electromyographic signal collected by the sth electromyographic signal collection device at the tth moment before the release moment, is the preset multiple, max is the maximum value function, if is the conditional function, is the number of moments before the release moment, is the number of multiple moments after the release moment, m is the number of electromyographic signal acquisition devices, k≤ , t≤ , s≤m, and k, ,t, , s and m are all positive integers.

6. The pelvic floor rehabilitation training auxiliary system based on virtual reality technology according to claim 5 is characterized in that: Determining a pelvic floor muscle reaction speed training effect score according to the amplitude of the second electromyographic signal, the time corresponding to the second electromyographic signal, and the release time, includes: According to the formula ， Determine the candidate conditions for the reaction start time corresponding to the sth electromyographic signal acquisition device ,in, is the amplitude of the second myoelectric signal collected by the sth myoelectric signal collection device at the k-1th moment after the release moment, is the time interval between adjacent moments, is a preset change rate threshold; Among the times that are after the release time and meet the candidate conditions for the reaction start time, select the minimum value as the reaction start time; At multiple moments after the release moment, select The moment of reaching the maximum value is the moment of strong reaction; Among the multiple moments after the release moment, the moment when the amplitude of the second electromyographic signal reaches the maximum value is selected as the contraction completion moment; According to the formula ， Determine the pelvic floor muscle reaction speed training effect score ,in, is the reaction start time corresponding to the sth electromyographic signal acquisition device, is the first preset time threshold, is the strong reaction time corresponding to the sth electromyographic signal acquisition device, is the second preset time threshold, is the contraction completion time corresponding to the sth electromyographic signal acquisition device, is the third preset time threshold.

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