Scoliosis motion capture pairing-based driving method, matching method, motion anomaly determination method, storage medium and equipment

Abstract

The invention discloses a driving method, a matching method, a motion abnormity determination method, a storage medium and equipment based on scoliosis motion capture pairing, and belongs to the technical field of evaluation of spinal deformity and human spinal motion characteristics. In order to solve the problem that in existing spine motion analysis, the driving effect is not ideal due to the fact that all vertebral bodies of the waist and the chest are driven according to a certain fixed proportion, firstly, a trunk model is constructed, the thoracic vertebra and the lumbar vertebra can move independently, and the thoracic vertebra and the lumbar vertebra are connected through intervertebral discs in a spherical hinge mode; marking points of bony mark positions at the thoracic vertebra spinous process and the lumbar sacral vertebra spinous process are constructed on the trunk model, and marking points of bony mark positions at the sacral vertebra spinous process, the acromion of the left shoulder bone and the acromion of the right shoulder bone are constructed; an optical mark corresponding to the bony marker position mark point is pasted on the skin surface of the spine spinous process of the subject, an action capture mark point is obtained, and a redundant driving mode is adopted for driving.

Description

Technical Field

[0001] The present invention belongs to the technical field of evaluation of spinal deformity and human spinal motion characteristics, and specifically relates to a scoliosis motion capture pairing driving method, a matching method and a motion abnormality determination method, and their corresponding devices. Background Art

[0002] Adolescent idiopathic scoliosis (AIS) is a common disabling deformity in adolescents, manifested as a three-dimensional spinal deformity in which one or more segments of the spine bend to the side and are accompanied by vertebral rotation. In the United States, the incidence of AIS is 1%-3%. In China, the incidence of AIS reported in cities such as Beijing, Shanghai, Guangzhou, and Shenzhen is 0.1%-5%. If timely and effective intervention and treatment are not taken for the development of AIS, the scoliosis angle will gradually increase, leading to deformation of the trunk and thorax, and even spinal cord and spinal nerve damage in severe cases. At the same time, respiratory and cardiac dysfunction will occur, seriously affecting the physical health and daily life of adolescents. In the occurrence and development of AIS, it is accompanied by abnormal spinal movement, which is closely related to the abnormal mechanical distribution of the spinal vertebrae and trunk muscles. Therefore, scoliosis will lead to abnormal spinal movement and abnormal spinal load distribution, and abnormal spinal load distribution will aggravate the progression of scoliosis, forming a vicious cycle. Therefore, it is crucial to accurately quantify the movement abnormalities of scoliosis and conduct personalized rehabilitation interventions for the prevention and control of scoliosis. Motion capture is a common evaluation method for spinal motion assessment and is also the gold standard evaluation method. However, the current motion capture is too simplified in the spine modeling and matching drive methods. The spine can only be treated as a whole or an equivalent whole, and the relative movement between the vertebrae of the spine cannot be quantified. Therefore, the traditional spinal motion assessment method cannot accurately assess the impact of scoliosis on the local movement of the spine. Therefore, the present invention proposes a new motion capture pairing and spine drive method to make the spinal motion assessment of AIS more accurate and precise. Summary of the invention

[0003] The present invention aims to solve the problem that in the existing spinal motion analysis, the lumbar vertebrae and the chest are driven at a fixed ratio, resulting in an unsatisfactory driving effect and the problem that local spinal motion abnormalities cannot be quantified.

[0004] A driving method based on scoliosis motion capture pairing, comprising:

[0005] S1. Construct a trunk model including the spine and pelvis in the modeling system. The thoracic vertebrae T1 to T12 and the lumbar vertebrae L1 to L5 can move independently and are connected by intervertebral discs in a ball joint manner; T1-T12 represent the first to twelfth vertebrae corresponding to the thoracic spine, and L1-L5 represent the first to fifth vertebrae corresponding to the lumbar spine;

[0006] Construct bone landmarks at the spinous processes of the thoracic and lumbar sacral vertebrae on the torso model, including T1, T3, T5, T7, T9, T11, T12, L1, L2, L3, L4, and L5; construct bone landmarks at the spinous processes of the sacral vertebrae, the acromion of the left scapula, and the acromion of the right scapula S1, LSHO, and RSHO; record the initially marked bone landmarks as initial bone landmarks;

[0007] S2. Optical markers corresponding to the bony landmarks are attached to the skin surface of the subject's spinous process. The spatial coordinates of the optical markers are captured by a motion capture system and recorded as motion capture markers, which are respectively recorded as MarkerT1, MarkerT3, MarkerT5, MarkerT7, MarkerT9, MarkerT11, MarkerT12, MarkerL1, MarkerL2, MarkerL3, MarkerL4, MarkerL5, MarkerS1, MarkerLSHO, and MarkerRSHO. The subject is driven by a redundant driving method. The redundant driving method is as follows:

[0008] The movement of the first thoracic vertebra is driven by three optical markers: MarkerT1, MarkerLSHO, and MarkerRSHO;

[0009] The movement of the second thoracic vertebra is driven by three optical markers, MarkerT1 and MarkerT3;

[0010] The movement of the third thoracic vertebra is driven by three optical markers: MarkerT1, MarkerT3, and MarkerT5;

[0011] The movement of the fourth thoracic vertebra is driven by three optical markers, MarkerT3 and MarkerT5;

[0012] The movement of the fifth thoracic vertebra is driven by three optical markers: MarkerT3, MarkerT5, and MarkerT7;

[0013] The movement of the sixth thoracic vertebra is driven by three optical markers, MarkerT5 and MarkerT7;

[0014] The movement of the seventh thoracic vertebra is driven by three optical markers: MarkerT5, MarkerT7, and MarkerT9;

[0015] The movement of the 8th thoracic vertebra is driven by three optical markers, MarkerT7 and MarkerT9;

[0016] The movement of the 9th thoracic vertebra is driven by three optical markers: MarkerT7, MarkerT9, and MarkerT11;

[0017] The movement of the 10th thoracic vertebra is driven by three optical markers, MarkerT9 and MarkerT11;

[0018] The movement of the 11th thoracic vertebra is driven by three optical markers: MarkerT9, MarkerT11, and MarkerT12;

[0019] The movement of the 12th thoracic vertebra is driven by three optical markers: MarkerT11, MarkerT12, and MarkerL1;

[0020] The movement of the first lumbar vertebra is driven by three optical markers: MarkerT12, MarkerL1, and MarkerL2;

[0021] The movement of the second lumbar vertebra is driven by three optical markers: MarkerL1, MarkerL2, and MarkerL3;

[0022] The movement of the third lumbar vertebra is driven by three optical markers: MarkerL2, MarkerL3, and MarkerL4;

[0023] The movement of the 4th lumbar vertebra is driven by three optical markers: MarkerL3, MarkerL4, and MarkerL5;

[0024] The movement of the fifth lumbar vertebra is driven by three optical markers: MarkerL4, MarkerL5, and MarkerS1.

[0025] A computer storage medium stores at least one instruction, and the at least one instruction is loaded and executed by a processor to implement a driving method based on scoliosis motion capture pairing.

[0026] A driving device based on scoliosis motion capture pairing, the device comprising a processor and a memory, the memory storing at least one instruction, the at least one instruction being loaded and executed by the processor to implement the driving method based on scoliosis motion capture pairing.

[0027] A matching method based on scoliosis motion capture pairing, comprising:

[0028] S100, constructing a trunk model including a spine and a pelvis in a modeling system, wherein thoracic vertebrae T1 to T12 and lumbar vertebrae L1 to L5 can move independently and are connected in a ball joint manner through intervertebral discs; T1-T12 represent the first to twelfth vertebrae corresponding to the thoracic spine, and L1-L5 represent the first to fifth vertebrae corresponding to the lumbar spine;

[0029] Construct bone landmarks at the spinous processes of the thoracic and lumbar sacral vertebrae on the torso model, including T1, T3, T5, T7, T9, T11, T12, L1, L2, L3, L4, and L5; construct bone landmarks at the spinous processes of the sacral vertebrae, the acromion of the left scapula, and the acromion of the right scapula S1, LSHO, and RSHO; record the initially marked bone landmarks as initial bone landmarks;

[0030] The initially marked bony landmark marker points are recorded as initial bony landmark marker points; a set of offsets are predefined to represent the coordinate offsets of the initial bony landmark marker points relative to the vertebrae to which they belong, and the bony landmark marker points on the trunk model are represented based on the offset parameters;

[0031] S200, optical markers corresponding to the bony landmarks are attached to the skin surface of the subject's spinous process, and the spatial coordinates of the optical markers are captured by a motion capture system and recorded as motion capture markers, which are respectively recorded as MarkerT1, MarkerT3, MarkerT5, MarkerT7, MarkerT9, MarkerT11, MarkerT12, MarkerL1, MarkerL2, MarkerL3, MarkerL4, MarkerL5, MarkerS1, MarkerLSHO, and MarkerRSHO;

[0032] S300, keep the movement of the vertebral body in the cross section and sagittal plane in the torso model unchanged, and only release the vertebral body movement freedom in the coronal plane;

[0033] S400, driving in a redundant driving mode, taking the distance between the spatial coordinates of the bony landmarks of the trunk model and the spatial coordinates of the corresponding optical landmarks as the objective function, and calculating the coronal plane motion angle of each vertebra of the spine using an inverse kinematics algorithm, so that the sum of the distances between the coordinates of the bony landmarks of the trunk model and the corresponding motion capture landmarks is minimized, thereby completing the matching;

[0034] S500: recalculate the offset parameters based on the matched posture, and determine the current bony landmark marking point based on the revised offset parameters.

[0035] Furthermore, the redundant driving method described in S400 is as follows:

[0036] The movement of the first thoracic vertebra is driven by three optical markers: MarkerT1, MarkerLSHO, and MarkerRSHO;

[0037] The movement of the second thoracic vertebra is driven by three optical markers, MarkerT1 and MarkerT3;

[0038] The movement of the third thoracic vertebra is driven by three optical markers: MarkerT1, MarkerT3, and MarkerT5;

[0039] The movement of the fourth thoracic vertebra is driven by three optical markers, MarkerT3 and MarkerT5;

[0040] The movement of the fifth thoracic vertebra is driven by three optical markers: MarkerT3, MarkerT5, and MarkerT7;

[0041] The movement of the sixth thoracic vertebra is driven by three optical markers, MarkerT5 and MarkerT7;

[0042] The movement of the seventh thoracic vertebra is driven by three optical markers: MarkerT5, MarkerT7, and MarkerT9;

[0043] The movement of the 8th thoracic vertebra is driven by three optical markers, MarkerT7 and MarkerT9;

[0044] The movement of the 9th thoracic vertebra is driven by three optical markers: MarkerT7, MarkerT9, and MarkerT11;

[0045] The movement of the 10th thoracic vertebra is driven by three optical markers, MarkerT9 and MarkerT11;

[0046] The movement of the 11th thoracic vertebra is driven by three optical markers: MarkerT9, MarkerT11, and MarkerT12;

[0047] The movement of the 12th thoracic vertebra is driven by three optical markers: MarkerT11, MarkerT12, and MarkerL1;

[0048] The movement of the first lumbar vertebra is driven by three optical markers: MarkerT12, MarkerL1, and MarkerL2;

[0049] The movement of the second lumbar vertebra is driven by three optical markers: MarkerL1, MarkerL2, and MarkerL3;

[0050] The movement of the third lumbar vertebra is driven by three optical markers: MarkerL2, MarkerL3, and MarkerL4;

[0051] The movement of the 4th lumbar vertebra is driven by three optical markers: MarkerL3, MarkerL4, and MarkerL5;

[0052] The movement of the fifth lumbar vertebra is driven by three optical markers: MarkerL4, MarkerL5, and MarkerS1.

[0053] A computer storage medium stores at least one instruction, and the at least one instruction is loaded and executed by a processor to implement a matching method based on scoliosis motion capture pairing.

[0054] A matching device based on scoliosis motion capture pairing, the device comprising a processor and a memory, the memory storing at least one instruction, the at least one instruction being loaded and executed by the processor to implement the matching method based on scoliosis motion capture pairing.

[0055] A method for determining motion abnormality based on scoliosis motion capture pairing matching, first matching is performed according to the matching method based on scoliosis motion capture pairing, and the current bony landmark marker points are determined based on the revised offset parameters, thereby setting the bony landmark marker points on a personalized trunk model for the current subject, and then determining the local motion abnormality of the spine based on the bony landmark marker points on the personalized trunk model.

[0056] A computer storage medium stores at least one instruction, which is loaded and executed by a processor to implement a method for determining motion abnormality based on scoliosis motion capture pairing matching.

[0057] A motion abnormality determination device based on scoliosis motion capture pairing matching, the device includes a processor and a memory, the memory stores at least one instruction, the at least one instruction is loaded and executed by the processor to implement the motion abnormality determination method based on scoliosis motion capture pairing matching.

[0058] Beneficial effects:

[0059] On the one hand, the present invention constructs an independent motion model of each vertebra of the trunk and invents a new driving method so that the spinal model can quantitatively analyze the impact of scoliosis on the local motion of the patient's spine, thereby overcoming the problem that the traditional spinal model cannot analyze the motion differences between the various vertebrae of the spine, improving the driving effect, and being able to quantify the local motion abnormalities of the spine, thereby discovering the problem of local motion abnormalities of the spine. On the other hand, the present invention takes into account the influence of individual differences and the error of point attachment, and recalculates the bony landmark marker points of the personalized trunk model for each subject, thereby making the model more stable and the calculation results more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 This is a rendering of the trunk model and bony landmark marking points (green balls) in the present invention.

[0061] Figure 2 Schematic diagram of the actual marking point pasting effect.

[0062] Figure 3 Schematic diagram comparing the traditional driving mode and the driving mode of the present invention, wherein (A) represents the traditional driving mode and (B) represents the driving mode of the present invention.

[0063] Figure 4 The figures are comparison diagrams of the bone landmark markings after personalized optimization, where (A) represents the predefined bone landmark marking points and the acquired optical marking points, (B) represents the predefined bone landmark marking points, and (C) represents the bone landmark marking points after personalized optimization.

[0064] Figure 5 This is a comparison chart between the traditional driving method and the driving effect of the present invention.

[0065] Figure 6 This is a comparison chart between the stable driving effect under a reasonable driving mode and the unstable driving effect under an unreasonable driving mode. DETAILED DESCRIPTION Specific implementation method one:

[0067] This embodiment is a spine model driving method, a scoliosis motion capture matching method, and a motion abnormality determination method, including:

[0068] S1. Construct a trunk model including the spine and pelvis in the modeling system, such as Figure 1 As shown, thoracic vertebrae T1 to T12 and lumbar vertebrae L1 to L5 can move independently and are connected by intervertebral discs in a ball joint manner. In this field, T1-T12 represents the first to twelfth vertebrae corresponding to the thoracic spine, and L1-L5 represents the first to fifth vertebrae corresponding to the lumbar spine;

[0069] It should be noted that: based on the characteristics of the human skeleton, the traditional view is that the thoracic vertebrae of the spine are relatively fixed and cannot move independently, that is, the thoracic vertebrae of the spine are relatively fixed in different postures of the human body and cannot move independently. They are also fixed when driven, such as Figure 3 As shown in (A) in the figure. After research, the present invention breaks through the traditional view that each spinal vertebra T1-T12 and L1-L5 can move independently, which can better drive the model and simulate the human body more in line with objective reality. Therefore, the following driving method is proposed: Figure 3 As shown in (B) in .

[0070] Constructing the bone landmarks at the spinous processes of the thoracic vertebrae and lumbar sacral vertebrae on the torso model, the bone landmarks include but are not limited to T1, T3, T5, T7, T9, T11, T12, L1, L2, L3, L4, L5; and constructing the bone landmarks S1, LSHO, RSHO at the spinous processes of the sacral vertebrae, the acromion of the left scapula, and the acromion of the right scapula; recording the initially marked bone landmarks as initial bone landmarks;

[0071] The bony landmarks on the torso model are marked as follows: Figure 1 As shown by the green ball in the figure;

[0072] S2. Attach optical markers corresponding to the bony landmarks on the skin surface of the subject's spinous process, such as Figure 2 As shown, the spatial coordinates of the optical markers are captured by a motion capture system and are recorded as motion capture markers, which are respectively recorded as MarkerT1, MarkerT3, MarkerT5, MarkerT7, MarkerT9, MarkerT11, MarkerT12, MarkerL1, MarkerL2, MarkerL3, MarkerL4, MarkerL5, MarkerS1, MarkerLSHO, and MarkerRSHO. Figure 4 As shown by the red ball in the figure; it should be noted that: Figure 4 The effect diagram is generated according to the setting model. The marked point description in the figure is generated, which is mainly to highlight the deviation between the red ball and the green ball. The generated description does not affect the understanding of the solution of the present invention, so the attached Figure 4 As for the actual content to be displayed, Figure 4 It is clear.

[0073] In traditional spinal motion analysis, the thorax is a whole, and the lumbar vertebrae and thorax are driven in a fixed ratio. Therefore, the motion analysis can be completed by only determining the motion of the thorax, such as Figure 3As shown in (A) in the figure. This method cannot quantify the local motion abnormality of the spine. Therefore, in the present invention, all vertebrae move independently, and each vertebra is driven independently through the marking points, such as Figure 3 To ensure the stability of the drive, the present invention proposes a redundant drive mode as follows:

[0074] The movement of the first thoracic vertebra is driven by three optical markers: MarkerT1, MarkerLSHO, and MarkerRSHO;

[0075] The movement of the second thoracic vertebra is driven by three optical markers, MarkerT1 and MarkerT3;

[0076] The movement of the third thoracic vertebra is driven by three optical markers: MarkerT1, MarkerT3, and MarkerT5;

[0077] The movement of the fourth thoracic vertebra is driven by three optical markers, MarkerT3 and MarkerT5;

[0078] The movement of the fifth thoracic vertebra is driven by three optical markers: MarkerT3, MarkerT5, and MarkerT7;

[0079] The movement of the sixth thoracic vertebra is driven by three optical markers, MarkerT5 and MarkerT7;

[0080] The movement of the seventh thoracic vertebra is driven by three optical markers: MarkerT5, MarkerT7, and MarkerT9;

[0081] The movement of the 8th thoracic vertebra is driven by three optical markers, MarkerT7 and MarkerT9;

[0082] The movement of the 9th thoracic vertebra is driven by three optical markers: MarkerT7, MarkerT9, and MarkerT11;

[0083] The movement of the 10th thoracic vertebra is driven by three optical markers, MarkerT9 and MarkerT11;

[0084] The movement of the 11th thoracic vertebra is driven by three optical markers: MarkerT9, MarkerT11, and MarkerT12;

[0085] The movement of the 12th thoracic vertebra is driven by three optical markers: MarkerT11, MarkerT12, and MarkerL1;

[0086] The movement of the first lumbar vertebra is driven by three optical markers: MarkerT12, MarkerL1, and MarkerL2;

[0087] The movement of the second lumbar vertebra is driven by three optical markers: MarkerL1, MarkerL2, and MarkerL3;

[0088] The movement of the third lumbar vertebra is driven by three optical markers: MarkerL2, MarkerL3, and MarkerL4;

[0089] The movement of the 4th lumbar vertebra is driven by three optical markers: MarkerL3, MarkerL4, and MarkerL5;

[0090] The movement of the fifth lumbar vertebra is driven by three optical markers: MarkerL4, MarkerL5, and MarkerS1.

[0091] Since there are differences between the motion capture markers and the bony landmark markers of the spine and pelvis, and the trunk skeletons of the subjects are also different, in order to drive according to the characteristics of the individual trunk skeletons to improve the driving accuracy and model stability, the present invention also proposes a personalized pairing method for each subject's motion capture data and the trunk model. The specific steps are as follows:

[0092] S100, firstly, based on the statistics of healthy human data, a set of offsets is predefined to represent the coordinate offset of the initial bony landmark markers relative to the vertebrae to which they belong, and the bony landmark markers on the trunk model are represented based on the offset parameters, such as Figure 4 As shown in (B);

[0093] S200, importing into the modeling system the torso optical markers obtained by motion capture of a subject, such as Figure 4 As shown in (A);

[0094] S300, keep the movement of the vertebral body in the cross section and sagittal plane in the torso model unchanged, and only release the vertebral body movement freedom in the coronal plane;

[0095] S400, adopting redundant driving mode for driving, and taking the distance between the spatial coordinates of the bony landmark marker points of the trunk model and the spatial coordinates of the corresponding optical marker points as the objective function, using the inverse kinematics algorithm to calculate the coronal plane motion angle of each vertebra of the spine, so that the sum of the distances between the coordinates of the bony landmark marker points on the trunk model and the corresponding motion capture marker points is minimized, thereby completing the matching.

[0096] S500, based on the new matching posture, recalculate the offset parameters in S100, determine the current bony landmark marking points based on the offset parameters, and thus set the bony landmark marking points on the torso model personalized for the current subject, such as Figure 4As shown in (C), it is possible to correct local movement abnormalities of the spine.

[0097] The method of the present invention is not limited to scoliosis, and any spinal deformity or other spinal disease-related spinal motion assessment is applicable to the present invention.

[0098] The effects of the present invention are mainly reflected in two aspects. On the one hand, by constructing an independent motion model of each vertebra of the trunk and inventing a new driving method, the spinal model can quantitatively analyze the impact of scoliosis on the local motion of the patient's spine, thereby overcoming the problem that the traditional spinal model cannot analyze the motion differences between the vertebrae of the spine. Figure 5 On the other hand, the present invention takes into account the influence of individual differences and point errors, and recalculates the bony landmarks of the personalized torso model for each subject, thereby making the model more stable and the calculation results more accurate. Figure 6 As shown, the left side is a schematic diagram of a stable driving effect under a reasonable driving mode, and the right side is a schematic diagram of an unstable driving effect under an unreasonable driving mode. Specific implementation method 2:

[0100] The present embodiment is a computer storage medium, in which at least one instruction is stored. The at least one instruction is loaded and executed by a processor to at least implement the driving method based on scoliosis motion capture pairing, or can be used to implement a matching method based on scoliosis motion capture pairing, or further implement a motion abnormality determination method based on scoliosis motion capture pairing matching.

[0101] It should be noted that: when the instructions of a certain embodiment are loaded and executed by the processor to implement a driving method based on scoliosis motion capture pairing, the computer storage medium is a storage medium corresponding to the driving method based on scoliosis motion capture pairing; when the instructions of a certain embodiment are loaded and executed by the processor to implement a matching method based on scoliosis motion capture pairing, the computer storage medium is a storage medium corresponding to the driving method based on scoliosis motion capture pairing; when the instructions of a certain embodiment are loaded and executed by the processor to implement a motion abnormality determination method based on scoliosis motion capture pairing matching, the computer storage medium is a storage medium corresponding to the motion abnormality determination method based on scoliosis motion capture pairing matching.

[0102] It should be understood that the instructions include computer program products, software or computerized methods corresponding to any method described in the present invention; the instructions can be used to program a computer system, or other electronic device. Computer storage media may include readable media on which instructions are stored, which may include but are not limited to magnetic storage media, optical storage media; magneto-optical storage media include read-only memory ROM, random access memory RAM, erasable programmable memory (e.g., EPROM and EEPROM) and flash memory layers, or other types of media suitable for storing electronic instructions. Specific implementation method three:

[0104] The present embodiment is a device for at least implementing the driving method based on scoliosis motion capture pairing, that is, a driving device based on scoliosis motion capture pairing; or it can also be a device for implementing a matching method based on scoliosis motion capture pairing, that is, a matching device based on scoliosis motion capture pairing; or it can be a device for further implementing a motion abnormality determination method based on scoliosis motion capture pairing matching, that is, a motion abnormality determination device based on scoliosis motion capture pairing matching.

[0105] The device includes a processor and a memory. It should be understood that, including any device including a processor and a memory described in the present invention, the device may also include other units and modules that perform display, interaction, processing, control, etc. and other functions through signals or instructions;

[0106] At least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement the driving method based on scoliosis motion capture pairing, or a matching method based on scoliosis motion capture pairing, or a motion abnormality determination method based on scoliosis motion capture pairing matching. It should be noted that: when the instructions of a certain embodiment are loaded and executed by the processor to implement a driving method based on scoliosis motion capture pairing, the device is a device corresponding to the driving method based on scoliosis motion capture pairing; when the instructions of a certain embodiment are loaded and executed by the processor to implement a matching method based on scoliosis motion capture pairing, the device is a device corresponding to the driving method based on scoliosis motion capture pairing; when the instructions of a certain embodiment are loaded and executed by the processor to implement a motion abnormality determination method based on scoliosis motion capture pairing matching, the device is a device corresponding to the motion abnormality determination method based on scoliosis motion capture pairing matching.

[0107] Those skilled in the art will appreciate that at least one instruction stored is a computer program product corresponding to the method or system. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes. The scheme in the embodiment of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0108] The present application is described with reference to the flowcharts and / or block diagrams of the methods, systems, and computer program products according to the embodiments of the present application, and may also be used for corresponding devices. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0109] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0110] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0111] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0112] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0113] The above calculation examples of the present invention are only used to explain the calculation model and calculation process of the present invention in detail, and are not intended to limit the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the implementation methods here. All obvious changes or modifications derived from the technical solution of the present invention are still within the scope of protection of the present invention.

Claims

1. A driving method based on scoliosis motion capture pairing, characterized in that: include: S1. Construct a trunk model including the spine and pelvis in the modeling system. The thoracic vertebrae T1 to T12 and the lumbar vertebrae L1 to L5 can move independently and are connected by intervertebral discs in a ball joint manner; T1-T12 represent the first to twelfth vertebrae corresponding to the thoracic spine, and L1-L5 represent the first to fifth vertebrae corresponding to the lumbar spine; Construct the bony landmarks of the spinous processes of the thoracic and lumbar vertebrae on the torso model. The bony landmarks include T1, T3, T5, T7, T9, T11, T12, L1, L2, L3, L4, and L5. And construct the bony landmark positions S1, LSHO, and RSHO at the sacral spinous process, the left scapula acromion, and the right scapula acromion; record the initially marked bony landmark positions as initial bony landmark positions; S2. Optical markers corresponding to the bony landmarks are attached to the skin surface of the subject's spinous process. The spatial coordinates of the optical markers are captured by a motion capture system and recorded as motion capture markers, which are respectively recorded as MarkerT1, MarkerT3, MarkerT5, MarkerT7, MarkerT9, MarkerT11, MarkerT12, MarkerL1, MarkerL2, MarkerL3, MarkerL4, MarkerL5, MarkerS1, MarkerLSHO, and MarkerRSHO. The subject is driven by a redundant driving method. The redundant driving method is as follows: The movement of the first thoracic vertebra is driven by three optical markers: MarkerT1, MarkerLSHO, and MarkerRSHO; The movement of the second thoracic vertebra is driven by three optical markers, MarkerT1 and MarkerT3; The movement of the third thoracic vertebra is driven by three optical markers: MarkerT1, MarkerT3, and MarkerT5; The movement of the fourth thoracic vertebra is driven by three optical markers, MarkerT3 and MarkerT5; The movement of the fifth thoracic vertebra is driven by three optical markers: MarkerT3, MarkerT5, and MarkerT7; The movement of the sixth thoracic vertebra is driven by three optical markers, MarkerT5 and MarkerT7; The movement of the seventh thoracic vertebra is driven by three optical markers: MarkerT5, MarkerT7, and MarkerT9; The movement of the 8th thoracic vertebra is driven by three optical markers, MarkerT7 and MarkerT9; The movement of the 9th thoracic vertebra is driven by three optical markers: MarkerT7, MarkerT9, and MarkerT11; The movement of the 10th thoracic vertebra is driven by three optical markers, MarkerT9 and MarkerT11; The movement of the 11th thoracic vertebra is driven by three optical markers: MarkerT9, MarkerT11, and MarkerT12; The movement of the 12th thoracic vertebra is driven by three optical markers: MarkerT11, MarkerT12, and MarkerL1; The movement of the first lumbar vertebra is driven by three optical markers: MarkerT12, MarkerL1, and MarkerL2; The movement of the second lumbar vertebra is driven by three optical markers: MarkerL1, MarkerL2, and MarkerL3; The movement of the third lumbar vertebra is driven by three optical markers: MarkerL2, MarkerL3, and MarkerL4; The movement of the 4th lumbar vertebra is driven by three optical markers: MarkerL3, MarkerL4, and MarkerL5; The movement of the fifth lumbar vertebra is driven by three optical markers: MarkerL4, MarkerL5, and MarkerS1.

2. A computer storage medium, characterized in that: The storage medium stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the driving method based on scoliosis motion capture pairing as claimed in claim 1.

3. A driving device based on scoliosis motion capture pairing, characterized in that: The device includes a processor and a memory, wherein at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement a driving method based on scoliosis motion capture pairing as claimed in claim 1.

4. A matching method based on scoliosis motion capture pairing, characterized in that: include: S100, constructing a trunk model including a spine and a pelvis in a modeling system, wherein thoracic vertebrae T1 to T12 and lumbar vertebrae L1 to L5 can move independently and are connected in a ball joint manner through intervertebral discs; T1-T12 represent the first to twelfth vertebrae corresponding to the thoracic spine, and L1-L5 represent the first to fifth vertebrae corresponding to the lumbar spine; Construct the bony landmarks of the spinous processes of the thoracic and lumbar vertebrae on the torso model. The bony landmarks include T1, T3, T5, T7, T9, T11, T12, L1, L2, L3, L4, and L5. And construct the bony landmark positions S1, LSHO, and RSHO at the sacral spinous process, the left scapula acromion, and the right scapula acromion; record the initially marked bony landmark positions as initial bony landmark positions; The initially marked bony landmark marker points are recorded as initial bony landmark marker points; a set of offsets are predefined to represent the coordinate offsets of the initial bony landmark marker points relative to the vertebrae to which they belong, and the bony landmark marker points on the trunk model are represented based on the offset parameters; S200, optical markers corresponding to the bony landmarks are attached to the skin surface of the subject's spinous process, and the spatial coordinates of the optical markers are captured by a motion capture system and recorded as motion capture markers, which are respectively recorded as MarkerT1, MarkerT3, MarkerT5, MarkerT7, MarkerT9, MarkerT11, MarkerT12, MarkerL1, MarkerL2, MarkerL3, MarkerL4, MarkerL5, MarkerS1, MarkerLSHO, and MarkerRSHO; S300, keep the movement of the vertebral body in the cross section and sagittal plane in the torso model unchanged, and only release the vertebral body movement freedom in the coronal plane; S400, driving in a redundant driving mode, taking the distance between the spatial coordinates of the bony landmarks of the trunk model and the spatial coordinates of the corresponding optical landmarks as the objective function, and calculating the coronal plane motion angle of each vertebra of the spine using an inverse kinematics algorithm, so that the sum of the distances between the coordinates of the bony landmarks of the trunk model and the corresponding motion capture landmarks is minimized, thereby completing the matching; S500: recalculate the offset parameters based on the matched posture, and determine the current bony landmark marking point based on the revised offset parameters.

5. A matching method based on scoliosis motion capture pairing according to claim 4, characterized in that: The redundant drive method described in S400 is as follows: The movement of the first thoracic vertebra is driven by three optical markers: MarkerT1, MarkerLSHO, and MarkerRSHO; The movement of the second thoracic vertebra is driven by three optical markers, MarkerT1 and MarkerT3; The movement of the third thoracic vertebra is driven by three optical markers: MarkerT1, MarkerT3, and MarkerT5; The movement of the fourth thoracic vertebra is driven by three optical markers, MarkerT3 and MarkerT5; The movement of the fifth thoracic vertebra is driven by three optical markers: MarkerT3, MarkerT5, and MarkerT7; The movement of the sixth thoracic vertebra is driven by three optical markers, MarkerT5 and MarkerT7; The movement of the seventh thoracic vertebra is driven by three optical markers: MarkerT5, MarkerT7, and MarkerT9; The movement of the 8th thoracic vertebra is driven by three optical markers, MarkerT7 and MarkerT9; The movement of the 9th thoracic vertebra is driven by three optical markers: MarkerT7, MarkerT9, and MarkerT11; The movement of the 10th thoracic vertebra is driven by three optical markers, MarkerT9 and MarkerT11; The movement of the 11th thoracic vertebra is driven by three optical markers: MarkerT9, MarkerT11, and MarkerT12; The movement of the 12th thoracic vertebra is driven by three optical markers: MarkerT11, MarkerT12, and MarkerL1; The movement of the first lumbar vertebra is driven by three optical markers: MarkerT12, MarkerL1, and MarkerL2; The movement of the second lumbar vertebra is driven by three optical markers: MarkerL1, MarkerL2, and MarkerL3; The movement of the third lumbar vertebra is driven by three optical markers: MarkerL2, MarkerL3, and MarkerL4; The movement of the 4th lumbar vertebra is driven by three optical markers: MarkerL3, MarkerL4, and MarkerL5; The movement of the fifth lumbar vertebra is driven by three optical markers: MarkerL4, MarkerL5, and MarkerS1.

6. A computer storage medium, characterized in that: The storage medium stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the matching method based on scoliosis motion capture pairing as described in claim 4 or 5.

7. A matching device based on scoliosis motion capture pairing, characterized in that: The device includes a processor and a memory, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement a matching method based on scoliosis motion capture pairing as described in claim 4 or 5.

8. A method for determining motion abnormality based on scoliosis motion capture pair matching, characterized in that: First, matching is performed according to a matching method based on scoliosis motion capture pairing as described in claim 4 or 5, and the current bony landmark marker points are determined based on the revised offset parameters, thereby setting the bony landmark marker points on a personalized trunk model for the current subject, and then determining the local movement abnormality of the spine based on the bony landmark marker points on the personalized trunk model.

9. A computer storage medium, characterized in that: The storage medium stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the method for determining motion abnormality based on scoliosis motion capture pairing matching as claimed in claim 8.

10. A motion abnormality determination device based on scoliosis motion capture pair matching, characterized in that: The device includes a processor and a memory, wherein at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement the method for determining motion abnormality based on scoliosis motion capture pairing matching as described in claim 8.

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