A non-contact lower limb lymphedema measurement and evaluation method and system

Abstract

The present invention specifically discloses a non-contact lower limb lymphedema measurement and assessment method and system. The system includes a base, a rotating platform, a measuring pole, and a fixed platform. The method includes the following steps: the system detects a patient's feet standing at a specified position on the base; the rotating platform drives the measuring pole to rotate, and a laser rangefinder on the measuring pole continuously measures the distance between the pole and the outer surface of the human body, converting the distance to point cloud data in a Cartesian coordinate system to obtain coordinate data of the entire outer surface of the human body, forming a point cloud dataset; the height of the thigh root is determined, and the point cloud data is automatically segmented into the trunk and lower limb parts; based on the segmented point cloud dataset, the leg circumference and volume at the specified height are calculated, and a bilateral circumference difference index and volume difference index are generated. The system of the present invention is simple to use, non-contact measurement, rich in measurement data, and flexible in use.

Description

Technical Field

[0001] The present invention relates to a non-contact lower limb lymphedema measurement and evaluation method and system. Background Art

[0002] Lymphedema is a common chronic condition that typically presents as limb swelling. Traditional methods for measuring lymphedema often rely on manual measuring tools, such as tape measures or water displacement methods. These methods suffer from low measurement accuracy, complex operation, and patient discomfort. In recent years, with the development of laser ranging and image processing technologies, non-contact measurement methods have gradually become a research hotspot. However, existing non-contact measurement equipment is often bulky, complex to operate, and lacks the flexibility to measure the circumference and volume of specific areas. Summary of the Invention

[0003] The purpose of the present invention is to solve the technical problems existing in the background technology. To this end, a non-contact lower limb lymphedema measurement and evaluation method is provided.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] A non-contact lower limb lymphedema measurement and assessment method comprises the following steps:

[0006] Step S1: The system detects that the patient's feet are standing at a designated position on the base;

[0007] Step S2: The rotating platform is started, driving the measuring pole to rotate, and the laser ranging sensor on the measuring pole continuously measures the distance between it and the outer surface of the human body;

[0008] Step S3: The system converts the distance data measured by the laser ranging sensor into point cloud data in a Cartesian coordinate system. The rotating stage rotates at least one circle to obtain the coordinate data of the entire human body surface to form a point cloud data set.

[0009] Step S4: Input the patient's basic information. The system calculates the patient's theoretical hip height based on standard human body data and searches for adjacent independent closed figures in the point cloud model to determine the thigh root height.

[0010] Step S5: The system automatically segments the point cloud data into the trunk and lower limbs;

[0011] Step S6: Calculate the leg circumference and volume at a specified height based on the segmented point cloud dataset, and generate a bilateral circumference difference index and a volume difference index;

[0012] Step S7: The system stores the patient's measurement data for each time and supports comparative analysis of historical data.

[0013] The following is a technical solution further defined by the method of the present invention, in which N vertically arranged laser ranging sensors with a spacing of m and Q vertically arranged cameras with a spacing of p are provided in the measuring pole, where N is a multiple of Q. After image stitching processing, the camera photos are taken to obtain a 360-degree full-circle image of the patient's leg for the doctor to compare and view the differences in the skin on the healthy and affected sides.

[0014] The following is a technical solution further defined by the method of the present invention. A three-dimensional coordinate system is established with the center position of the rotating stage as the center of the circle. The coordinates of the laser ranging sensor are marked as Pi (x, y, z):

[0015]

[0016] Where m is the height spacing of the laser ranging sensor, i is the sensor height spacing count value, i∈[1,N], N is the number of laser ranging sensors, 2π / E is the measurement angle interval, E is the angle fraction, E∈[180,720], j is the angle fraction count value, j∈[0,E], and r is the radius from the laser ranging sensor to the middle of the rotating table;

[0017] After one rotation, the coordinate data P (x, y, z) of the entire human body surface is obtained:

[0018]

[0019] Among them, r is the radius from the laser ranging sensor to the middle of the rotating table, L ji The measured length between the i-th laser ranging sensor and the outer surface of the human body is measured at an angle of 2πj / E; |x|<=r, |y|<=r, m is the height spacing of the laser ranging sensor, i is the sensor height spacing count value, i∈[1,N]), and j is the angle fraction count value, j∈[0,E].

[0020] The following is a technical solution further defined by the method of the present invention, in which the coordinate data P (x, y, z) of all the external surfaces of the human body are collected to form a point cloud dataset, and the point cloud dataset is split into the trunk and lower limbs. The lower limbs form two independent closed figure point cloud datasets due to the left and right limbs.

[0021] The following is a technical solution further defined by the method of the present invention, which includes, during the point cloud dataset splitting process:

[0022] First, the system inputs the patient's gender, height, age, and weight, and calculates the patient's theoretical hip height based on the standard human body data in GB-10000.

[0023] Then, in the point cloud model, search for the point cloud data sets of two independent closed figures corresponding to the root of the thigh and the point cloud data set of a closed figure corresponding to the bottom of the torso adjacent to the theoretical hip height layer up and down.

[0024] Determine the height of the root of the thigh H*m, where m is the height spacing of the sensors and H is the sensor height serial number determined by the search.

[0025] The following is a further limited technical solution of the method in the present invention. When calculating the circumference of the required limb segment, accumulate the distances between points of the data corresponding to the side of the leg at the corresponding height to obtain the right leg side circumference ZR and the left leg side circumference ZL:

[0026]

[0027] Among them, represents the distance from point to point , represents the distance from the first point to the last point .

[0028]

[0029] Among them, represents the distance from point to point , represents the distance from the first point to the last point .

[0030] The following is a further limited technical solution of the method in the present invention. When calculating the bilateral circumference difference index FZ:

[0031] .

[0032] The following is a further limited technical solution of the method in the present invention. When calculating the left and right limb volumes in a specified height segment, calculate the area of the closed figure of each layer, multiply by the layer height, and then add the volumes of all layers to obtain the right leg segment volume SR and the left leg segment volume SL:

[0033]

[0034] Among them, m is the height spacing of the sensors, He and Hs are the specified height starting point and height ending point respectively, He ∈ [1, N], Hs ∈ [1, N], Hs < He, and N is the number of laser ranging sensors;

[0035]

[0036] Among them, m is the height spacing of the sensors, He and Hs are the specified starting height and ending height respectively, He ∈ [1, N], Hs ∈ [1, N], Hs < He, and N is the number of laser ranging sensors.

[0037] The following is a further limited technical solution of the method in the present invention. Calculate the bilateral volume difference index FS of the specified height segment:

[0038] .

[0039] A non-contact lower limb lymphedema measurement and evaluation system is used to implement the above non-contact lower limb lymphedema measurement and evaluation method, and includes a base, a rotating table, a measuring vertical rod and a fixed platform;

[0040] The axial center position of the base is fixedly connected to the fixed platform through a support rod;

[0041] The axial center position of the base is rotationally connected to the axial center position of the rotating table, and the rotating table is installed on the support rod through a bearing;

[0042] The lower side surface of the rotating table is provided with an annular tooth surface, the annular tooth surface is meshed and connected with a driving gear, the axis of the driving gear is horizontally arranged, the driving gear penetrates through the upper side surface of the base and the axial center position of the driving gear is connected to the output end of a servo motor, and the servo motor is located inside the base;

[0043] The measuring vertical rod is fixedly installed on the outer edge of the rotating table. Inside the measuring vertical rod, there are N vertically arranged laser ranging sensors with a spacing of m and Q vertically arranged cameras with a spacing of p. Among them, N is a multiple of Q.

[0044] Compared with the prior art, the present invention has the following technical effects:

[0045] Simple to use: The patient only needs to stand at the specified position, and the system equipment automatically completes the measurement, with simple operation;

[0046] Non-contact measurement: Non-contact measurement is achieved through laser ranging sensors and cameras, reducing patient discomfort;

[0047] Rich measurement data: Support flexible measurement of the circumference and volume of any part, with rich data;

[0048] Flexible data processing: By optimizing the data processing process, accurate measurement results can be quickly generated and multi-dimensional evaluation is supported.

[0049] The present invention will be further described below in conjunction with the drawings and embodiments. Brief Description of the Drawings

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0051] Figure 1 is a simplified schematic diagram of the structure of a patient standing on a fixed platform in the system of the present invention;

[0052] Figure 2 yes Figure 1 Schematic diagram of part of the structure;

[0053] Figure 3 It is a simplified structural diagram of the system of the present invention;

[0054] Figure 4 It is the overall point cloud image measured by the present invention;

[0055] Figure 5 It is the limb segment point cloud map selected by the present invention.

[0056] Reference numerals: 1. base; 2. rotating platform; 3. measuring pole; 4. fixed platform. DETAILED DESCRIPTION

[0057] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0058] like Figure 1-5 As shown, this embodiment provides a non-contact lower limb lymphedema measurement and evaluation system and a non-contact lower limb lymphedema measurement and evaluation method.

[0059] like Figure 1-3 As shown, a non-contact lower limb lymphedema measurement and evaluation system specifically includes the following equipment structure:

[0060] Base 1: Serves as the foundation of the entire device, used to support the rotating table 2, fixed platform 4 and measuring pole 3.

[0061] Rotating table 2: It can rotate 360° around the axis of base 1. It realizes rotation through bearings and is driven by a servo motor to rotate the rotating table 2, thereby driving the measuring pole 3 to rotate.

[0062] Measuring pole 3: Located on the outer edge of rotating platform 2, measuring pole 3 houses N vertically arranged laser rangefinders spaced at intervals m and Q vertically arranged cameras spaced at intervals p. N is a multiple of Q. The camera images are stitched together to produce a 360° image of the patient's leg, allowing the doctor to compare the skin differences between the healthy and affected sides. It should be noted that ultrasonic sensors can be used instead of laser rangefinders to achieve similar measurement results.

[0063] The specific connection relationship is:

[0064] The axis of base 1 is fixedly connected to fixed platform 4 via support rods. The axis of base 1 is rotatably connected to the axis of turntable 2, which is mounted on the support rods via bearings. The lower side of turntable 2 is provided with an annular tooth surface, which meshes with a driving gear. The axis of the driving gear is set horizontally. The driving gear passes through the upper side of base 1, and the axis of the driving gear is connected to the output end of the servo motor. The servo motor is located inside base 1. A designated standing position groove is provided on fixed platform 4 for the patient to stand in the designated position.

[0065] A non-contact lower limb lymphedema measurement and assessment method comprises the following steps:

[0066] Step S1: The system detects that the patient's feet are standing at a designated position on the base 1.

[0067] Step S2: The rotating platform 2 is started, driving the measuring pole 3 to rotate, and the laser ranging sensor on the measuring pole 3 continuously measures the distance between it and the outer surface of the human body.

[0068] Step S3: The system converts the distance data measured by the laser ranging sensor into point cloud data in a Cartesian coordinate system. After the rotating platform 2 rotates one circle, the coordinate data of the entire outer surface of the human body is obtained to form a point cloud data set.

[0069] Step S4: Input the patient's gender, height, age, weight and other information. The system calculates the patient's theoretical hip height based on the standard human body data, and searches for adjacent independent closed figures in the point cloud model to determine the height of the thigh root.

[0070] Step S5: The system automatically segments the point cloud data into the trunk and lower limbs.

[0071] Step S6: Calculate the leg circumference and volume at a specified height based on the segmented point cloud dataset, and generate a bilateral circumference difference index and a volume difference index.

[0072] Step S7: The system stores the patient's measurement data for each time, and supports comparative analysis of historical data of each index to assist in determining the changing trend of the degree of edema.

[0073] When measuring, if Figure 1 As shown, the patient stands with both feet in the indicated foot position (during the formal measurement, only underwear is worn, and the feet are separated and stand still. It should be noted that Figure 1 The human body is wearing outer trousers, and formal measurement has not been carried out at this time). Then the measuring pole 3 of the rotating table 2 starts to rotate, and continuously measures the distance from each laser ranging sensor to the human body and converts it into Cartesian coordinates.

[0074] A three-dimensional coordinate system is established with the center of the rotating stage as the center of the circle. The coordinates of the laser ranging sensor are marked as Pi (x, y, z):

[0075]

[0076] Where m is the height spacing of the laser ranging sensor, i is the sensor height spacing count value, i∈[1,N], N is the number of laser ranging sensors, 2π / E is the measurement angle interval, E is the angle fraction, E∈[180,720], j is the angle fraction count value, j∈[0,E], and r is the radius from the laser ranging sensor to the middle of the rotation table.

[0077] Taking 0 degrees as the standard, the coordinates of the laser ranging sensor are marked as Pi (-r, 0, m*i).

[0078] After one rotation, the coordinate data P (x, y, z) of the entire human body surface is obtained:

[0079]

[0080] Among them, r is the radius from the laser ranging sensor to the middle of the rotating table, L ji The measured length between the i-th laser ranging sensor and the outer surface of the human body is measured at an angle of 2πj / E; |x|<=r, |y|<=r, (data beyond the platform radius are discarded), m is the height spacing of the laser ranging sensor, i is the sensor height spacing count value, i∈[1,N]), and j is the angle fraction count value, j∈[0,E].

[0081] The coordinate data P (x, y, z) of all the external surfaces are collected to form a point cloud dataset, which is then split into the trunk and lower limbs. The lower limbs form two independent closed-figure point cloud datasets (left leg and right leg) due to their left and right limbs.

[0082] The process of splitting the point cloud dataset includes:

[0083] First, the system inputs the patient's gender, height, age, and weight, and calculates the patient's theoretical hip height based on the standard human body data in GB-10000.

[0084] Then, in the theoretical hip height layer in the point cloud model, a point cloud dataset of two adjacent independent closed figures corresponding to the thigh root and a point cloud dataset of a closed figure corresponding to the bottom of the torso are searched up and down;

[0085] Determine the thigh root height H*m, where m is the sensor height spacing and H is the sensor height sequence number determined by the search.

[0086] Calculate the leg circumference and volume as follows:

[0087] When calculating the required limb segment circumference, the data of the corresponding height of the corresponding leg side is accumulated and the distance between each point is calculated to obtain the right leg side circumference ZR and the left leg side circumference ZL:

[0088]

[0089] in, Indicates a point Arrive distance, Indicates the first point To the last point distance;

[0090]

[0091] in, Indicates a point Arrive distance, Indicates the first point To the last point distance.

[0092] Taking the right limb as an example, to calculate the leg circumference at a specified height, such as 30m, select the right leg point cloud data with values in quadrants 2 and 3, that is, x<=0, and there is

[0093]

[0094] The leg circumference of the right leg at a height of 30m is ZR.

[0095] Calculate the bilateral circumference difference index FZ:

[0096] .

[0097] When calculating the volume of the left and right limbs at a given height, such as the volume of the legs between 10m and 80m, the approximate right leg segment volume SR and left leg segment volume SL are obtained by calculating the area of the enclosed figure at each layer, multiplying it by the layer height, and then adding up the volumes of all layers:

[0098]

[0099] Among them, m is the height spacing of the sensors, He and Hs are the specified starting height and ending height respectively, He ∈ [1, N], Hs ∈ [1, N], Hs < He, and N is the number of laser ranging sensors;

[0100]

[0101] Among them, m is the height spacing of the sensors, He and Hs are the specified starting height and ending height respectively, He ∈ [1, N], Hs ∈ [1, N], Hs < He, and N is the number of laser ranging sensors.

[0102] Calculate the bilateral volume difference index FS of the specified height segment:

[0103] 。

[0104] Therefore, the bilateral volume difference index of the legs between the heights of 10m and 80m 。

[0105] The above are only the preferred embodiments of the present invention, and do not impose any form of limitation on the present invention. Any person skilled in the art can make many possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above, or modify it into an equivalent embodiment with equivalent changes. Therefore, all equivalent changes made according to the shape, structure and principle of the present invention without departing from the content of the technical solution of the present invention shall be covered by the protection scope of the present invention.

Claims

1. A non-contact lower limb lymphedema measurement and evaluation method, characterized in that: It includes the following steps: Step S1: The system detects that the patient's feet stand at the designated position on the base; Step S2: The rotating table starts,带动 the measuring vertical rod to rotate, and the laser distance sensor on the measuring vertical rod continuously measures the distance between it and the human body's outer surface; Step S3: The system converts the distance data measured by the laser distance sensor into point cloud data in the Cartesian coordinate system. The rotating table rotates at least one week to obtain the coordinate data of the entire human body's outer surface and forms a point cloud data set; Step S4: Input the patient's basic information. The system calculates the patient's theoretical hip height according to the human body standard data and searches for adjacent independent closed figures in the point cloud model to determine the height of the thigh root; Step S5: The system automatically divides the point cloud data into the trunk part and the lower limb part; Step S6: According to the divided point cloud data set, calculate the leg circumference and volume at the specified height, and generate the bilateral circumference difference index and volume difference index; Step S7: The system stores the data of each measurement of the patient and supports the comparative analysis of historical data; When calculating the circumference of the required limb segment, accumulate the data at the corresponding height on the corresponding leg side to calculate the distance between each point, and obtain the right leg side circumference ZR and the left leg side circumference ZL: in, Indicates a point Arrive distance, Indicates the first point To the last point distance; in, Indicates a point Arrive distance, Indicates the first point To the last point distance; Calculate the bilateral circumference difference index FZ: ； When calculating the left and right limb volumes at the specified height segment, calculate the area of the closed figure of each layer, multiply it by the layer height, and then add the volumes of all layers to obtain the right leg segment volume SR and the left leg segment volume SL: Where, m is the height spacing of the sensor, He and Hs are the specified height starting point and height ending point respectively, He ∈ [1, N], Hs ∈ [1, N], Hs < He, and N is the number of laser distance sensors; Where, m is the height spacing of the sensor, He and Hs are the specified height starting point and height ending point respectively, He ∈ [1, N], Hs ∈ [1, N], Hs < He, and N is the number of laser distance sensors; Calculate the bilateral volume difference index FS at the specified height segment: 。 2. A non-contact lower limb lymphedema measurement and evaluation method according to claim 1, characterized in that: There are N vertically arranged laser distance sensors with a spacing of m and Q vertically arranged cameras with a spacing of p inside the measuring vertical rod. Among them, N is a multiple of Q. After the images of the cameras are stitched, a 360-degree full-week image of the patient's leg is obtained for the doctor to compare and view the skin differences between the healthy and diseased sides.

3. The non-contact lower limb lymphedema measurement and evaluation method according to claim 1, characterized in that: Establish a three-dimensional coordinate system with the center position of the rotating table as the center of the circle, and record the coordinates of the laser distance sensor as Pi(x, y, z): Where, m is the height spacing of the laser distance sensor, i is the height spacing count value of the sensor, i ∈ [1, N], N is the number of laser distance sensors, 2π / E is the measurement angle interval, E is the angle equal division number, E ∈ [180, 720], j is the angle equal division number count value, j ∈ [0, E], and r is the radius from the laser distance sensor to the middle of the rotating table; After rotating one week, obtain the coordinate data P(x, y, z) of the entire human body's outer surface: Among them, r is the radius from the laser ranging sensor to the middle of the rotating table, L ji The measured length between the i-th laser ranging sensor and the outer surface of the human body is measured at an angle of 2πj / E; |x|<=r, |y|<=r, m is the height spacing of the laser ranging sensor, i is the sensor height spacing count value, i∈[1,N]), and j is the angle fraction count value, j∈[0,E].

4. The non-contact lower limb lymphedema measurement and evaluation method according to claim 3, characterized in that: Collect all the obtained coordinate data P(x, y, z) of the human body's outer surface to form a point cloud data set, and split the point cloud data set into the trunk part and the lower limb part. The lower limb part forms two independent closed figure point cloud data sets due to the left and right limbs.

5. The non-contact lower limb lymphedema measurement and evaluation method according to claim 4, characterized in that: The process of splitting the point cloud dataset includes: First, the system inputs the patient's gender, height, age, and weight, and calculates the patient's theoretical hip height based on the standard human body data in GB-10000. Then, in the theoretical hip height layer in the point cloud model, a point cloud dataset of two adjacent independent closed figures corresponding to the thigh root and a point cloud dataset of a closed figure corresponding to the bottom of the torso are searched up and down; Determine the thigh root height H*m, where m is the sensor height spacing and H is the sensor height sequence number determined by the search.

6. A non-contact lower limb lymphedema measurement and evaluation system, used to implement the non-contact lower limb lymphedema measurement and evaluation method according to any one of claims 1 to 5, characterized in that: Including base, rotating table, measuring pole and fixed platform; The axis position of the base is fixedly connected to the fixed platform through a support rod; The axis center position of the base is rotatably connected to the axis center position of the rotating platform, and the rotating platform is installed on the support rod through a bearing; The lower side of the rotating platform is provided with an annular tooth surface, the annular tooth surface is meshed with a driving gear, the axis of the driving gear is arranged horizontally, the driving gear passes through the upper side of the base and the axis of the driving gear is connected to the output end of the servo motor, and the servo motor is located in the base; The measuring pole is fixedly mounted on the outer edge of the rotating platform. N vertically arranged laser distance measuring sensors with a spacing of m and Q vertically arranged cameras with a spacing of p are arranged inside the measuring pole, where N is a multiple of Q.

Images