Wearable spine monitoring system

Abstract

The invention discloses a wearable spine monitoring system. The system comprises a wearable module and a monitoring module, the wearable module is used for recording posture data of the spine; the monitoring module is used for receiving the posture data and displaying the posture of the spine of the human body in real time. The wearable part comprises a data collector, a node module and a communication line; the data collector collects data of the plurality of node modules, stores the data to the local, and completes data transmission with a computer and a mobile phone through wireless communication; and the monitoring software runs on a computer or a mobile phone and binds the spine postures of the node modules uploaded by the data acquisition unit with the spine model so as to realize dynamic monitoring of the spine state of the human body.

Description

Technical Field

[0001] The present invention belongs to the technical field of health management, and particularly relates to a wearable spinal monitoring system. Background Art

[0002] At present, the standard methods recognized by medicine for measuring scoliosis and spinal deformities include: X-ray, CT, and MRI. Among them, X-ray has radioactivity, and CT and MRI can extract the complete spinal posture and model. The medical detection costs of these three methods are relatively high, so they have certain limitations.

[0003] Ordinary methods for obtaining spinal status include images, bending angle sensors, IMU (Inertial Measurement Unit) inertial sensors, etc. For the image method, the camera takes the front and side images of the user, and estimates the spinal posture by extracting the human bone feature points in the images. For the bending angle sensor, it is placed inside the tight-fitting clothes to ensure contact with the spine, and the angles of multiple sensors are used to simulate the spinal posture. For the IMU inertial sensor, multiple inertial sensors are wirelessly connected, and the posture data of the spinal segments are collected into the control unit to monitor the spinal posture.

[0004] Traditional medical methods, such as CT images, perform well in extracting static human spinal postures and models, but they cannot monitor the spinal status during human movement. The image method requires the user to stand within the camera's view range and ensure that the spine is completely captured, so the usage scenario is limited. The bending angle sensor dynamically detects the spine, but only uses three angle sensors to describe the spinal status, lacking spinal model information.

[0005] The IMU inertial sensor can use multiple nodes to detect the spinal status, but each sensor needs to be powered separately, and the network composed of multiple node units needs to transmit node information, also lacking spinal model information. Therefore, although these methods have advantages in some aspects, they also have some limitations. Summary of the Invention

[0006] To solve the above problems, the present invention provides a wearable spinal monitoring system, including: a wearing module and a monitoring module;

[0007] The wearing module is used to record the posture data of the spine;

[0008] The monitoring module is used to receive the posture data and display the human spinal posture in real time.

[0009] Optionally, the wearing module includes a node module, a communication line, and a data collector;

[0010] The node module is used to monitor the posture and temperature of the spinal segment where the node is located;

[0011] The communication line is used to connect the node module and the data collector, receive the monitoring data of the node module, and transmit it to the data collector;

[0012] The data collector is used to receive the monitoring data of the node module and store it.

[0013] Optionally, the wearable module is pasted to the back with medical tape.

[0014] Optionally, the node module includes a temperature sensor and an IMU inertial sensor;

[0015] The temperature sensor is used to collect the temperature data after the node module fits the human body;

[0016] The IMU inertial sensor is used to calculate the posture of the spinal segment where the current node is located.

[0017] Optionally, the IMU inertial sensor includes an accelerometer, a gyroscope, and a magnetometer;

[0018] The accelerometer is used to measure the inclination angle of the spinal segment where the current node is located;

[0019] The gyroscope is used to measure the angular velocity of an object;

[0020] The magnetometer obtains the earth's magnetic field.

[0021] Optionally, the monitoring module includes spinal model loading, real-time display of human spinal posture, calculation and display of cobb angle and spinal curvature, recording and playback of human spinal posture data, and evaluation of the completion degree of standard training actions.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] This system is not restricted by the site, can monitor the spinal shape during human movement, and provide real-time feedback of the spinal shape to the user, facilitating the user to observe the impact of training actions on the spine. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings constituting a part of this application are used to provide a further understanding of this application. The schematic embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation to this application. In the drawings:

[0025] Figure 1 is a schematic diagram of the installation of the spinal brace according to an embodiment of the present invention;

[0026] Figure 2 is a structural diagram of the spinal detection system according to an embodiment of the present invention;

[0027] Reference Numerals: 1 - Node Module, 2 - Communication Line, 3 - Data Collector. Detailed Implementation Manner

[0028] To better understand the technical solution of the present invention, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be clear that the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention. The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms of "a", "the", and "said" used in the embodiments of the present invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0029] Embodiment

[0030] A wearable spinal monitoring system, as Figure 2 shown, includes: a wearing module and a monitoring module;

[0031] As Figure 1 shown, the wearing module is used to record the posture data of the spine; the wearing module includes a node module 1, a communication line 2, and a data collector 3; the node module 1 is used to monitor the posture and temperature of the spinal segment where the node is located; the communication line 2 is used to connect the node module 1 and the data collector 3, and is used to receive the monitoring data of the node module 1 and transmit it to the data collector 3; the data collector 3 is used to receive the monitoring data of the node module 1 and store it.

[0032] The wearing module is pasted on the back using medical tape.

[0033] The node module 1 includes a temperature sensor and an IMU inertial sensor; the temperature sensor is used to collect the temperature data after the node module 1 fits the human body; the IMU inertial sensor is used to calculate the posture of the spinal segment where the current node is located.

[0034] The IMU inertial sensor includes an accelerometer, a gyroscope, and a magnetometer; the accelerometer is used to measure the inclination angle of the spinal segment where the current node is located; the gyroscope is used to measure the angular velocity of an object; the magnetometer obtains the earth's magnetic field.

[0035] The monitoring module is used to receive the posture data and display the human spinal posture in real time. The monitoring module includes spinal model loading, real-time display of human spinal posture, calculation and display of cobb angle and spinal curvature, recording and playback of human spinal posture data, and evaluation of the completion degree of standard training actions.

[0036] Starting from this embodiment,

[0037] The wearable part includes: a data collector 3, multiple node modules 1 connected by cables. The wearable part is pasted on the back spine of the human body or sewn inside the clothes. The multiple node modules 1 record the posture data of the corresponding spinal segments. The data collector 3 collects the spinal segment posture information of the multiple node modules 1, records the data in the form of a file and saves it in the internal storage card, and uploads the data file to a computer or a mobile phone through wireless communication; a monitoring software that realizes the posture of the corresponding spine position of the node module 1 and judges the training actions of the spine.

[0038] The wearable part can be pasted on the back with medical tape or attached to a tight-fitting garment with a buckle to fit onto the human back. The wearable part includes multiple node modules 1. The node modules 1 are distributed along the spine. The posture of the node module 1 corresponds to the posture of the spinal segment where it is located. The multiple node modules 1 feedback the overall posture of the spine. A spinal brace connects the node modules 1 in series through cables and finally aggregates to the data collector 3. The cables supply power to each node module 1 and transmit data. The node module 1 adopts an IMU inertial sensor, a magnetometer, a temperature sensor, and an MCU (Microcontroller Unit) controller to calculate the posture of the spinal block in real time. The MEMS inertial sensor is usually used to measure acceleration and angular velocity, while the temperature sensor is used to measure the human body temperature to assist in judging the fitting state of the node module 1 on the back. The MCU controller is used to process the data collected by the sensors and calculate the posture of the spinal block at the node position.

[0039] The data collector 3 supplies power to each node module 1 through cables and reads the posture and temperature data of the node module 1. The data collector 3 includes a lithium battery, a charging unit, a storage unit, a processor, a Bluetooth communication module, and a button.

[0040] The monitoring software includes spinal model loading, real-time display of the human spinal posture, calculation and display of the cobb angle and spinal curvature, recording and playback of the human spinal posture data, and evaluation of the completion degree of standard training actions.

[0041] For the monitoring method, the user wears the node module 1 and the data collector 3, turns on the recording function of the data collector 3. The data collector 3 collects the posture data of the multiple node modules 1 and saves the data in the storage unit. During the user's wearing period, when performing spinal rehabilitation movements, the data collection function can be paused or started. After the training is completed, the mobile phone monitoring software can be used to read the movement data during the data collection period, combine it with the existing spinal model of the user, display the posture of the user's trained spine, and perform subsequent analysis and processing.

[0042] Furthermore, the wearable part includes: a node module 1, a communication line 2, and a data collector 3.

[0043] The node module 1 monitors the posture and temperature of the corresponding spinal segment through temperature and IMU inertial sensors, and the communication unit forwards the processed data to the data collector 3. The number of node modules 1 is determined according to the user's spinal morphology.

[0044] The temperature sensor assists in judging the wearing state of the node module 1 by collecting the temperature data after the node module 1 fits the human body.

[0045] The IMU inertial sensor includes an accelerometer, a gyroscope, and a magnetometer. The accelerometer can measure the acceleration of an object in a specific direction or the component of the gravitational acceleration, acc = [a x a y a z ], a x - the x-axis component of the accelerometer; a y - the y-axis component of the accelerometer; a z - the z-axis component of the accelerometer; thus, the tilt angle of the object can be determined. The gyroscope can measure the angular velocity of the object, gyro = [g x g y g z ], g x - the x-axis component of the gyroscope; g y - the y-axis component of the gyroscope; g z - the z-axis component of the gyroscope; that is, the rotation rate of the object around a specific axis. The magnetometer can detect the earth's magnetic field, mag = [m x m y m z ], m x - the x-axis component of the magnetometer, m y - the y-axis component of the magnetometer, m z - the z-axis component of the magnetometer. By fusing the measurement data of the accelerometer, gyroscope, and magnetometer, and performing data processing and filtering, the IMU inertial sensor can calculate the posture of the corresponding spinal segment, and the corresponding posture angle can be calculated through quaternions, q = [q 0 q 1 q 2 q 3 ] T .

[0046] After multiple node modules 1 are connected by cables, they are connected to the data collector 3.

[0047] The communication line 2 connects multiple node modules in series to supply power to and transfer data for the node module 1. The communication protocol is not limited to SPI, I2C, CAN, and is mainly for data acquisition and configuration of the node module 1.

[0048] The data collector 3 includes a lithium battery, a charging unit, a processor, a storage unit, and a button.

[0049] A processor that collects data from multiple node modules 1 and records it in a storage unit.

[0050] A button that turns on and pauses the data collection function of node module 1. The communication method is not limited to Bluetooth and WIFI, and the recorded data is sent to monitoring software on a mobile phone or computer.

[0051] Monitoring software, which is not limited to mobile phone APPs and PC application software. The functions of the monitoring software include loading a spinal model, reading the data of node module 1 of the data collector 3, posture calibration of the spinal model, real-time display, calculation of Cobb angle and spinal curvature, recording and playback of human spinal posture data, and evaluation of the completion degree of standard training actions.

[0052] A spinal model that loads the user's spinal model or a standard spinal model. The user's spinal model is reconstructed from CT or X-ray images. The standard spinal model is a spinal model of a normal person.

[0053] The data of multiple node modules 1 of the data collector 3 is mapped to the vertebral segments at the corresponding positions of the spine. The vertebral segments between node modules 1 are fitted by linear interpolation of quaternions of the upper and lower two node modules 1. The formula is as follows:

[0054] Lerp(p, q, t) = (1 - t) * p + t * q,

[0055] where p and q respectively represent the real-time quaternion data obtained from the upper and lower node modules 1. The value of parameter t is related to the positions of the upper and lower node modules 1 and the position of the current vertebral segment, and is specifically expressed as:

[0056]

[0057] where, l k represents the height of the upper and lower end faces of each vertebral body of the spinal segments clamped by the upper and lower node modules 1, i represents the number of vertebral segments from the upper node module to the current vertebral segment, and n is the total number of vertebral segments. This formula is used to achieve smooth transitions in the postures of each vertebral body of the spine, which helps to improve the dynamic accuracy of the model.

[0058] The embodiments of the present disclosure are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A wearable spine monitoring system, characterized in that: The system specifically includes: a wearable module and a monitoring module; The wearable module is used to record the posture data of the spine; The monitoring module is used to receive posture data and display the human spine posture in real time.

2. The wearable spine monitoring system according to claim 1, characterized in that: The wearable module includes a node module, a communication line and a data collector; The node module is used to monitor the posture and temperature of the spinal segment where the node is located; The communication line is used to connect the node module and the data collector, and is used to receive the monitoring data of the node module and transmit it to the data collector; The data collector is used to receive and store the monitoring data of the node module.

3. The wearable spine monitoring system according to claim 2, characterized in that: The wearable module is attached to the back using medical tape.

4. The wearable spine monitoring system according to claim 2, characterized in that: The node module includes a temperature sensor and an IMU inertial sensor; The temperature sensor is used to collect temperature data after the node module is attached to the human body; The IMU inertial sensor is used to calculate the posture of the spine segment at the current node location.

5. The wearable spine monitoring system according to claim 4, characterized in that: The IMU inertial sensor includes an accelerometer, a gyroscope and a magnetometer; The accelerometer is used to measure the inclination angle of the spinal segment at the location of the current node; The gyroscope is used to measure the angular velocity of an object; The magnetometer acquires the earth's magnetic field.

6. The wearable spine monitoring system according to claim 1, characterized in that: The monitoring module includes spine model loading, real-time display of human spine posture, calculation and display of Cobb angle and spinal curvature, recording and playback of human spine posture data and completion evaluation of standard training movements.

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