Lower limb force line real-time evaluation method and device, medium and equipment

Abstract

The invention discloses a lower limb force line real-time evaluation method and device, a medium and equipment, and the method comprises the steps: generating a prompt instruction to drive a target object to complete preset hip and knee joint motions, and the preset hip and knee joint motions comprise a plurality of continuous first motions with a hip joint as an axis and a plurality of continuous second motions with a knee joint as an axis; acquiring spatial position data respectively sent by the first to fourth sensing devices in the hip and knee joint movement process; according to the spatial position data sent by the first sensing device to the fourth sensing device in each action process, determining the knee joint ectropion and ectropion states of the target object under each action; and synthesizing the knee-joint varus-valgus state corresponding to each action to generate a knee-joint varus-valgus evaluation result of the target object. The lower limb force line and the deviation angle of the lower limb force line can be monitored in real time, a clinical traditional complex measuring device is not needed, accuracy is high, use is safe, operation is easy, and use is easy.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly relates to a method, device, medium and equipment for real-time evaluation of lower limb alignment.

Background Art

[0002] The lower limb alignment generally refers to the straight line passing through the center point of the femoral head to the center point of the ankle joint, representing the mechanical conduction line of the normal human lower limb in the weight-bearing position. The state of the lower limb alignment is of great significance for the load distribution and motor function of the knee joint. Poor lower limb alignment often leads to joint pain, dysfunction, and even osteoarthritis. The measurement of the lower limb alignment is extremely important for the preoperative diagnosis, treatment, preoperative planning, postoperative rehabilitation, etc. of diseases. Especially in orthopedic surgeries of the lower limb such as high tibial osteotomy and total knee arthroplasty, the occurrence and development of diseases such as osteoarthritis can be prevented and delayed by correcting the lower limb alignment.

[0003] Currently, the method of using CT or X-ray to take full-length films of the lower limbs of the detection object and establishing a lower limb bone model is usually adopted to determine the lower limb alignment by reconstructing a three-dimensional model from the images. Although this method is relatively accurate, the operation process is relatively cumbersome, requiring the use of resources such as CT and X-ray and relying on radiological diagnosis and treatment equipment, and it can only reflect the static state and cannot perform real-time dynamic monitoring. For people who need long-term dynamic monitoring, there is an urgent need for a device that can display their limb postures in real time.

Summary of the Invention

[0004] The present invention provides a method, device, medium and equipment for real-time evaluation of lower limb alignment, which solves the above-mentioned technical problems.

[0005] In the first aspect of the embodiments of the present invention, a method for real-time evaluation of lower limb alignment is provided. A first sensing device and a second sensing device are respectively arranged on the inner and outer sides of the knee joint of the target object, and a third sensing device and a fourth sensing device are respectively arranged on the inner and outer sides of the ankle joint. The method includes the following steps:

[0006] Step 1, generating a prompt instruction to drive the target object to complete a preset hip-knee joint movement, where the preset hip-knee joint movement includes a plurality of consecutive first-type actions with the hip joint as the axis and second-type actions with the knee joint as the axis;

[0007] Step 2, obtaining the spatial position data respectively sent by the first sensing device to the fourth sensing device during the hip-knee joint movement;

[0008] Step 3, determining the varus / valgus state of the knee joint of the target object under each action according to the spatial position data sent by the first sensing device to the fourth sensing device during each action;

[0009] Step 4: Generate the evaluation result of the varus / valgus of the target object's knee joint by synthesizing the varus / valgus states of the knee joint corresponding to each movement.

[0010] In a preferred embodiment, generating the varus / valgus state of the target object's knee joint under each movement specifically includes:

[0011] Calculate the rotation radii of the first sensing device to the fourth sensing device relative to the femoral head rotation center and / or the knee joint rotation center according to the spatial position data. The rotation radii include the first rotation distance a1 of the first sensing device relative to the femoral head rotation center, the second rotation distance a1' of the second sensing device relative to the femoral head rotation center, the third rotation distance b1 of the third sensing device relative to the femoral head rotation center, the fourth rotation distance b1' of the fourth sensing device relative to the femoral head rotation center, the fifth rotation distance b2 of the third sensing device relative to the knee joint rotation center, and the sixth rotation distance b2' of the fourth sensing device relative to the knee joint rotation center;

[0012] Determine whether the first rotation distance to the sixth rotation distance meet the preset determination conditions, and generate the first evaluation result of the varus / valgus of the target object's knee joint according to the determination result.

[0013] A second aspect of the embodiments of the present invention provides a computer-readable storage medium storing a computer program, which when executed by a processor, implements the above-mentioned real-time evaluation method for lower limb force line.

[0014] A third aspect of the embodiments of the present invention provides a real-time evaluation device for lower limb force line, including a computer-readable storage medium and a processor. When the processor executes the computer program on the computer-readable storage medium, the steps of the above-mentioned real-time evaluation method for lower limb force line are implemented.

[0015] A fourth aspect of the embodiments of the present invention provides a real-time evaluation device for lower limb force line, including an instruction generation module, a data acquisition module, and a comprehensive evaluation module.

[0016] The instruction generation module is used to generate prompt instructions to drive the target object to complete a preset hip-knee joint movement, and the preset hip-knee joint movement includes a plurality of consecutive first-type movements with the hip joint as the axis and second-type movements with the knee joint as the axis;

[0017] The data acquisition module is used to acquire the spatial position data respectively sent by the first sensing device to the fourth sensing device during the hip-knee joint movement.

[0018] The comprehensive evaluation module is used to determine the varus / valgus state of the knee joint of the target object under each action according to the spatial position data sent by the first to fourth sensing devices during each action process; and is used to generate the knee joint varus / valgus evaluation result of the target object by synthesizing the varus / valgus states of the knee joint corresponding to each action.

[0019] In a preferred embodiment, the comprehensive evaluation module includes:

[0020] A first calculation module, configured to calculate the rotation radii of the first to fourth sensing devices relative to the femoral head rotation center and / or the knee joint rotation center according to the spatial position data, where the rotation radii include a first rotation distance a1 of the first sensing device relative to the femoral head rotation center, a second rotation distance a1' of the second sensing device relative to the femoral head rotation center, a third rotation distance b1 of the third sensing device relative to the femoral head rotation center, a fourth rotation distance b1' of the fourth sensing device relative to the femoral head rotation center, a fifth rotation distance b2 of the third sensing device relative to the knee joint rotation center, and a sixth rotation distance b2' of the fourth sensing device relative to the knee joint rotation center;

[0021] A second calculation module, configured to determine whether the first to sixth rotation distances meet a preset determination condition, and generate a first knee joint varus / valgus evaluation result of the target object according to the determination result.

[0022] The present invention provides a method, device, medium, and equipment for real-time evaluation of the lower limb force line. By calculating the distances between the center points of the femoral head, the knee joint, and the ankle joint of the human body through the motion detection data of sensors such as gyroscopes, accelerometers, and gravity sensors, the lower limb force line and the deviation angle of the lower limb force line can be monitored in real time. Without the need for traditional complex measurement devices in clinical practice, it is not only highly accurate and safe to use, but also simple to operate and easy to use.

[0023] To make the above objects, features, and advantages of the invention more obvious and understandable, the following specifically describes preferred embodiments of the invention in conjunction with the accompanying drawings.

Description of the Drawings

[0024] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 It is a schematic flowchart of the method for real-time evaluation of the lower limb force line provided in Embodiment 1;

[0026] Figure 2 is a schematic diagram of the movement of the sensing device in Embodiment 1;

[0027] Figure 3 is a schematic diagram of the bones with genu varum in Embodiment 1;

[0028] Figure 4 is a schematic structural diagram of the lower limb mechanical axis real-time evaluation device provided in Embodiment 2;

[0029] Figure 5 is a schematic structural diagram of the lower limb mechanical axis real-time evaluation device provided in Embodiment 3.

Detailed Implementation Manner

[0030] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] It should be noted that if there is no conflict, the various features in the embodiments of the present invention can be combined with each other and are all within the protection scope of the present invention. In addition, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from the module division in the device or the flowchart. Furthermore, the terms "first", "second", "third", etc. used in the present invention do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0032] Figure 1 is a schematic flowchart of a method for real-time evaluation of the lower limb mechanical axis provided in Embodiment 1. In this embodiment, a first sensing device and a second sensing device are respectively provided on the inner and outer sides of the knee joint of the target object, and a third sensing device and a fourth sensing device are respectively provided on the inner and outer sides of the ankle joint. The first sensing device to the fourth sensing device include one or more of a gyroscope, an accelerometer, and a gravity sensor, or an integration of the above multi-sensors. By fixing the first sensing device and the second sensing device on the inner and outer sides of the knee joint, and fixing the third sensing device and the fourth sensing device on the inner and outer sides of the ankle joint, the spatial position change information of the corresponding positions is recorded. The specific fixing method can be to fix it on the limb by a strap or fix it to the brace through a corresponding buckle, so that the above sensing device is horizontally arranged with the knee joint line and the ankle joint line to obtain a more accurate measurement result.

[0033] Such asFigure 1 As shown in the figure, the real-time lower limb alignment assessment method of this embodiment includes the following steps:

[0034] Step 1: Generate a prompt instruction to drive the target object to complete a preset hip and knee joint movement. The preset hip and knee joint movement here includes at least one first type of movement with the hip joint as the axis and at least one second type of movement with the knee joint as the axis. Both the first type of movement and the second type of movement are not limited to a fixed body position movement. For example, the first type of movement includes a first target body position movement and / or a first target walking movement, such as straightening the fixed knee joint and performing a lower limb movement with the hip joint as the axis. The second type of movement can also include a second target body position movement and / or a second target walking movement, such as fixing the hip joint and performing actions such as flexing and extending the knee joint.

[0035] Step 2: Obtain the spatial position data respectively sent by the first to fourth sensing devices during the hip and knee joint movement. Here, the spatial position data includes the position change values and angle change values respectively sent by the first to fourth sensing devices during the target object's completion of the first type of movement and the second type of movement.

[0036] Then execute Step 3: Calculate the rotation radii of the first to fourth sensing devices relative to the femoral head rotation center and / or the knee joint rotation center according to the spatial position data. The rotation radii include the first rotation distance a1 of the first sensing device relative to the femoral head rotation center, the second rotation distance a1' of the second sensing device relative to the femoral head rotation center, the third rotation distance b1 of the third sensing device relative to the femoral head rotation center, the fourth rotation distance b1' of the fourth sensing device relative to the femoral head rotation center, the fifth rotation distance b2 of the third sensing device relative to the knee joint rotation center, and the sixth rotation distance b2' of the fourth sensing device relative to the knee joint rotation center.

[0037] Figure 2 Schematic diagram of the movement process of the sensing device, as Figure 2As shown, when the sensing device fixed on the inner and outer sides of the knee joint or the inner and outer sides of the ankle joint rotates around the center O (i.e., the center of the femoral head or the center of the knee joint), if the sensing device moves from the P1 position to the P2 position, according to the double integral of the accelerometer with respect to time, the length of the arc a can be obtained, that is, the position change value of the sensing device; according to the gyroscope data, the angle change θ can be obtained, that is, the angle change value of the sensing device, and then the rotation radius r can be calculated. For this embodiment, the first rotation distance a1 of the first sensing device relative to the rotation center of the femoral head, the second rotation distance a1' of the second sensing device relative to the rotation center of the femoral head, the third rotation distance b1 of the third sensing device relative to the rotation center of the femoral head, the fourth rotation distance b1' of the fourth sensing device relative to the rotation center of the femoral head, the fifth rotation distance b2 of the third sensing device relative to the rotation center of the knee joint, and the sixth rotation distance b2' of the fourth sensing device relative to the rotation center of the knee joint can be calculated.

[0038] Finally, step 4 is executed to determine whether the first rotation distance to the sixth rotation distance meets the preset determination conditions, and generate the first knee varus / valgus evaluation result of the target object according to the determination result.

[0039] The above embodiment provides a method for real-time evaluation of the lower limb force line. By calculating the distances between the center points of the femoral head, the knee joint, and the ankle joint of the human body through the motion detection data of sensors such as gyroscopes, accelerometers, and gravity sensors, the lower limb force line and the deviation angle of the lower limb force line can be monitored in real time. There is no need for traditional complex measurement devices in clinical practice, which is not only highly accurate and safe to use, but also simple to operate and easy to use.

[0040] Figure 3 is a schematic diagram of the bones of genu varum, as Figure 3 shown, determining whether the first rotation distance to the sixth rotation distance meets the preset determination conditions, and generating the first knee varus / valgus evaluation result of the target object, specifically:

[0041] If a1 = a1', b1 = b1' and b2 = b2', it is determined that the lower limb force line of the target object is centered;

[0042] If a1 < a1', b1 < b1' and b2 = b2', it is determined that the lower limb force line of the target object is varus, and the varus is located on the femoral side;

[0043] If a1 = a1', b1 < b1' and b2 < b2', it is determined that the lower limb force line of the target object is varus, and the varus is located on the tibial side;

[0044] If a1 > a1', b1 > b1' and b2 = b2', it is determined that the lower limb force line of the target object is valgus, and the valgus is located on the femoral side;

[0045] If a1 = a1', b1 > b1' and b2 > b2', it is determined that the lower limb force line of the target object is valgus, and the valgus is located on the tibia side.

[0046] In other embodiments, if there are detection results that do not belong to the above determination conditions, it indicates that there may be errors or mistakes in the detection data of each sensor, and a warning instruction can be generated to drive medical staff to check and adjust the installation and working status of each sensor.

[0047] In a preferred embodiment, the comprehensive monitoring method further includes the following steps:

[0048] Determine the varus / valgus state of the knee joint of the target object under each action according to the spatial position data sent by the first sensing device to the fourth sensing device during each action process;

[0049] Generate the first varus / valgus evaluation result of the knee joint of the target object by synthesizing the varus / valgus states of the knee joint corresponding to each action. In the above embodiments, the preset hip and knee joint movements may include multiple consecutive first-type actions and second-type actions. For example, a certain action is repeatedly executed, and the corresponding movement parameters are adjusted during the execution process to obtain the repeated monitoring results of the same type of action, so as to obtain the varus / valgus state of the knee joint of the target object under this action. Repeating the above steps can obtain the varus / valgus states of the knee joint of the target object under each different action. In a specific embodiment, the target object may have a relatively obvious varus / valgus state of the knee joint under one action, while under another action, the varus / valgus state of the knee joint may not be as obvious. In this way, through the comprehensive evaluation of multiple different actions, not only can more accurate measurement results be obtained, but also the varus / valgus state of the knee joint of the target user can be monitored in real time, reminding the target user which actions have a more serious varus / valgus of the knee joint, facilitating the user to actively pay attention to and correct relevant actions in daily life.

[0050] In a preferred embodiment, the lower limb force line real-time evaluation method further includes the following steps:

[0051] Step 5, screen the target spatial position data, where the target spatial position data includes the spatial position data sent by the first sensing device or the second sensing device at the knee joint during the process of completing the first-type action and the spatial position data sent by the third sensing device or the fourth sensing device at the ankle joint during the process of completing the second-type action.

[0052] In a preferred embodiment, the user can perform targeted preset hip and knee joint movements, that is, select a target detection action from the preset action library, and collect and screen the target spatial position data during the entire process of the target detection action.

[0053] Each target detection action includes the first type of action and the second type of action. The first type of action and the second type of action respectively include at least one preset body position action and / or at least one preset walking action. Each preset body position action or each preset walking action has a corresponding motion parameter value, including motion speed, motion angle, or motion amplitude, etc. In a specific embodiment, whether it is the first type of action or the second type of action, by setting the motion parameters, it is necessary to ensure that during the execution of the corresponding preset body position action or preset walking action, the line connecting the center of the femoral head and the first sensing device (or the second sensing device) and the line connecting the inner and outer sides of the knee joint form a right angle; or the line connecting the center of the femoral head and the third sensing device (or the fourth sensing device) and the line connecting the inner and outer sides of the ankle joint form a right angle; or the line connecting the center of the knee joint and the third sensing device (or the fourth sensing device) and the line connecting the inner and outer sides of the ankle joint form a right angle, so as to form three right triangles and use the Pythagorean theorem to calculate the subsequent first distance, second distance, and third distance.

[0054] Step 6: Calculate the first distance from the center of the knee joint to the center of the femoral head, the second distance from the center of the ankle joint to the center of the femoral head, and the third distance from the center of the ankle joint to the center of the knee joint according to the target space position data.

[0055] Step 7: Generate a second knee joint varus / valgus evaluation result of the target object according to the first distance, the second distance, and the third distance.

[0056] In a preferred embodiment, it further includes Step 8: Generate a target evaluation result of the target object by integrating the first knee joint varus / valgus evaluation result and the second knee joint varus / valgus evaluation result.

[0057] In one embodiment, Step 6 is specifically:

[0058] S601: Calculate the first motion distance d1 (one of the first rotation distance a1 and the second rotation distance a1') from the first sensing device or the second sensing device to the center of the femoral head, the second motion distance d2 (one of the third rotation distance b1 and the fourth rotation distance b1') from the third sensing device or the fourth sensing device to the center of the femoral head, and the third motion distance d3 (one of the fifth rotation distance b2 and the sixth rotation distance b2') from the third sensing device or the fourth sensing device to the center of the knee joint according to the target space position data.

[0059] S602: Collect the inner and outer side widths L1 of the knee joint and the inner and outer side widths L2 of the ankle joint of the target object. In a specific embodiment, let the target object adopt a standing position or a supine position, and the inner and outer side widths can be obtained by measuring the distance between the inner and outer side sensing devices or directly measuring the inner and outer side widths.

[0060] S603, calculate the first distance L of the knee joint center relative to the femoral head center according to the medial-lateral width L1 of the knee joint and the first movement distance d1 F , calculate the second distance L of the ankle joint center relative to the femoral head center according to the medial-lateral width L2 of the ankle joint and the second movement distance d2 M , calculate the third distance L of the ankle joint center relative to the knee joint center according to the medial-lateral width L2 of the ankle joint and the third movement distance d3 T , the calculation formula is as follows:

[0061] The first distance of the knee joint center relative to the femoral head center

[0062] The second distance of the ankle joint center relative to the femoral head center

[0063] The third distance of the ankle joint center relative to the knee joint center

[0064] Then according to the first distance L F , the second distance L M and the third distance L T calculate the varus-valgus angle of the knee joint of the target object, specifically:

[0065] Generate a fourth distance, and the fourth distance is the sum of the first distance and the third distance;

[0066] Calculate the difference between the second distance and the fourth distance, and determine whether the difference is within a preset interval. If so, it is determined that the lower limb force line of the target object is centered. For example, if L F +L T =L M then it is determined that the lower limb force line of the target object is centered; otherwise, calculate the varus-valgus angle of the knee joint of the target object according to the first distance, the second distance and the third distance.

[0067] In a preferred embodiment, the step 8 of generating the target evaluation result of the target object by synthesizing the first knee joint varus-valgus evaluation result and the second knee joint varus-valgus evaluation result is specifically:

[0068] Determine whether the first knee varus-valgus evaluation result and the second knee varus-valgus evaluation result are the same or similar. If so, calculate the knee varus-valgus angle of the target object according to the second knee varus-valgus evaluation result; if not, generate a warning instruction to prompt to check the wearing status of the first sensing device to the fourth sensing device, and repeat steps 5-8 to generate the target evaluation result of the target object, so that the obtained judgment result can more accurately reflect the current knee varus-valgus state of the target object.

[0069] In a preferred embodiment, calculating the knee varus-valgus angle of the target object according to the second knee varus-valgus evaluation result includes the following steps:

[0070] Determine the first line connecting the center of the femoral head and the center of the knee joint and the second line connecting the center of the femoral head and the center of the ankle joint;

[0071] Calculate the knee varus-valgus angle of the target object according to a preset formula. The knee varus-valgus angle is the included angle between the first line and the second line, and the preset formula is:

[0072]

[0073] where α is the knee varus-valgus angle, L F is the first distance from the center of the knee joint to the center of the femoral head, L M is the second distance from the center of the ankle joint to the center of the femoral head, L T is the third distance from the center of the ankle joint to the center of the knee joint.

[0074] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention. At the same time, the methods of the above embodiments can also be used to monitor the upper limb force line. For example, a first sensing device and a second sensing device are respectively arranged on the inner and outer sides of the elbow joint, and a third sensing device and a fourth sensing device are respectively arranged on the inner and outer sides of the wrist joint. The upper limb force line and the deviation of the upper limb force line are measured through the real-time detection data of the first sensing device to the fourth sensing device. The specific technical solutions are similar to the solutions for lower limb force line monitoring, and are all within the protection scope of the present invention, and will not be elaborated here.

[0075] An embodiment of the present invention also provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the above-mentioned lower limb force line real-time evaluation method is implemented.

[0076] Figure 4 is a schematic structural diagram of the lower limb force line real-time evaluation device provided in Embodiment 2, as Figure 4As shown, it includes an instruction generation module 100, a data acquisition module 200, and a comprehensive evaluation module 500.

[0077] The instruction generation module 100 is used to generate a prompt instruction to drive the target object to complete a preset hip and knee joint movement.

[0078] The data acquisition module 200 is used to acquire the spatial position data respectively sent by the first to fourth sensing devices during the hip and knee joint movement.

[0079] The comprehensive evaluation module 500 is used to determine the varus / valgus state of the target object's knee joint under each action according to the spatial position data sent by the first to fourth sensing devices during each action process; and is used to generate the first knee joint varus / valgus evaluation result of the target object by synthesizing the varus / valgus states of the knee joint corresponding to each action.

[0080] In a preferred embodiment, the comprehensive evaluation module 500 includes:

[0081] A first calculation module 300, which is used to calculate the rotation radii of the first to fourth sensing devices relative to the femoral head rotation center and / or the knee joint rotation center according to the spatial position data. The rotation radii include the first rotation distance a1 of the first sensing device relative to the femoral head rotation center, the second rotation distance a1' of the second sensing device relative to the femoral head rotation center, the third rotation distance b1 of the third sensing device relative to the femoral head rotation center, the fourth rotation distance b1' of the fourth sensing device relative to the femoral head rotation center, the fifth rotation distance b2 of the third sensing device relative to the knee joint rotation center, and the sixth rotation distance b2' of the fourth sensing device relative to the knee joint rotation center.

[0082] A second calculation module 400, which is used to determine whether the first to sixth rotation distances meet the preset determination conditions, and generate the first knee joint varus / valgus evaluation result of the target object according to the determination result.

[0083] The above embodiment provides a real-time lower limb force line evaluation device, which can monitor the lower limb force line and the lower limb force line deviation angle in real time, without the need for traditional complex measurement devices in clinical practice. It not only has high accuracy and safe use, but also is simple to operate and easy to use.

[0084] In a preferred embodiment, the preset determination conditions are:

[0085] If a1 = a1', b1 = b1' and b2 = b2', it is determined that the lower limb force line of the target object is centered.

[0086] If a1 < a1', b1 < b1' and b2 = b2', it is determined that the lower limb alignment of the target object is varus, and the varus is located on the femoral side;

[0087] If a1 = a1', b1 < b1' and b2 < b2', it is determined that the lower limb alignment of the target object is varus, and the varus is located on the tibial side;

[0088] If a1 > a1', b1 > b1' and b2 = b2', it is determined that the lower limb alignment of the target object is valgus, and the valgus is located on the femoral side;

[0089] If a1 = a1', b1 > b1' and b2 > b2', it is determined that the lower limb alignment of the target object is valgus, and the valgus is located on the tibial side.

[0090] In a preferred embodiment, the first sensing device, the second sensing device, the third sensing device and the fourth sensing device include a gyroscope, an accelerometer and / or a gravity sensor; the preset hip and knee joint movements include at least one first type of movement centered on the hip joint and at least one second type of movement centered on the knee joint, and the spatial position data includes the position change values and angle change values respectively sent by the first sensing device to the fourth sensing device during the target object's completion of the first type of movement and the second type of movement.

[0091] In a preferred embodiment, the comprehensive monitoring device further includes a second comprehensive evaluation module, and the second comprehensive evaluation module specifically includes:

[0092] A screening unit for screening target spatial position data, where the target spatial position data includes the spatial position data sent by the first sensing device or the second sensing device at the knee joint during the completion of the first type of movement and the spatial position data sent by the third sensing device or the fourth sensing device at the ankle joint during the completion of the second type of movement;

[0093] A calculation unit for calculating a first distance from the center of the knee joint to the center of the femoral head, a second distance from the center of the ankle joint to the center of the femoral head, and a third distance from the center of the ankle joint to the center of the knee joint according to the target spatial position data;

[0094] A first evaluation unit for generating a second knee varus / valgus evaluation result of the target object according to the first distance, the second distance and the third distance;

[0095] A second evaluation unit for generating a target evaluation result of the target object by integrating the first knee varus / valgus evaluation result and the second knee varus / valgus evaluation result.

[0096] In one embodiment, the second evaluation unit is specifically configured to determine whether the first knee varus / valgus evaluation result is the same as or similar to the second knee varus / valgus evaluation result. If so, the knee varus / valgus angle of the target object is calculated according to the second knee varus / valgus evaluation result; if not, a warning instruction is generated to prompt an inspection of the wearing states of the first to fourth sensing devices, and steps 5-8 are repeated to generate the target evaluation result of the target object.

[0097] An embodiment of the present invention further provides a lower limb force line real-time evaluation device, including a computer-readable storage medium and a processor. When the processor executes a computer program on the computer-readable storage medium, the steps of the above-mentioned lower limb force line real-time evaluation method are implemented.

[0098] Figure 5 FIG. is a schematic structural diagram of the lower limb force line real-time evaluation device provided in Embodiment 3 of the present invention. As Figure 5 shown, the lower limb force line real-time evaluation device 8 of this embodiment includes: a processor 80, a readable storage medium 81, and a computer program 82 stored in the readable storage medium 81 and executable on the processor 80. When the processor 80 executes the computer program 82, the steps in the above-mentioned various method embodiments are implemented, such as Figure 1 the step 1 shown. Alternatively, when the processor 80 executes the computer program 82, the functions of each module in the above-mentioned various device embodiments are implemented, such as Figure 4 the function of the module shown.

[0099] Exemplarily, the computer program 82 can be divided into one or more modules. The one or more modules are stored in the readable storage medium 81 and executed by the processor 80 to complete the present invention. The one or more modules can be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program 82 in the lower limb force line real-time evaluation device 8.

[0100] The lower limb force line real-time evaluation device 8 may include, but is not limited to, a processor 80 and a readable storage medium 81. Those skilled in the art can understand that Figure 5 merely an example of the lower limb force line real-time evaluation device 8, which does not constitute a limitation on the lower limb force line real-time evaluation device 8. It may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, the lower limb force line real-time evaluation device may further include a power management module, an arithmetic processing module, input / output devices, a network access device, a bus, etc.

[0101] The so-called processor 80 may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0102] The readable storage medium 81 may be the internal storage unit of the lower limb force line real-time evaluation device 8, such as the hard disk or memory of the lower limb force line real-time evaluation device 8. The readable storage medium 81 may also be an external storage device of the lower limb force line real-time evaluation device 8, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc. equipped on the lower limb force line real-time evaluation device 8. Further, the readable storage medium 81 may also include both the internal storage unit and the external storage device of the lower limb force line real-time evaluation device 8. The readable storage medium 81 is used to store the computer program and other programs and data required by the lower limb force line real-time evaluation device. The readable storage medium 81 may also be used to temporarily store data that has been output or is to be output.

[0103] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the lower limb force line real-time evaluation device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit. The above integrated unit may be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be repeated here.

[0104] In the above embodiments, the descriptions of the respective embodiments each have their own emphasis. For parts not described in detail or recorded in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0105] Those of ordinary skill in the art can realize that the units and method steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0106] In the embodiments provided by the present invention, it should be understood that the disclosed device / terminal device and method can be implemented in other ways. For example, the device / terminal device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical or other forms.

[0107] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0108] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0109] The present invention is not limited only to what is described in the specification and embodiments. Therefore, for those skilled in the art, additional advantages and modifications can be easily achieved. Therefore, without departing from the spirit and scope of the general concept defined by the claims and their equivalents, the present invention is not limited to specific details, representative devices, and the illustrated examples shown and described herein.

Claims

1. A real-time evaluation method for the lower limb mechanical axis, characterized in that A first sensing device and a second sensing device are respectively provided on the inner and outer sides of the knee joint of the target object, and a third sensing device and a fourth sensing device are respectively provided on the inner and outer sides of the ankle joint. The method includes the following steps: Step 1, generate a prompt instruction to drive the target object to complete a preset hip-knee joint movement, where the preset hip-knee joint movement includes a plurality of consecutive first-type actions centered on the hip joint and second-type actions centered on the knee joint; Step 2, obtain the spatial position data respectively sent by the first sensing device to the fourth sensing device during the hip-knee joint movement; Step 3, determine the varus-valgus state of the knee joint of the target object under each action according to the spatial position data sent by the first sensing device to the fourth sensing device during each action; Step 4, generate the varus-valgus evaluation result of the knee joint of the target object by synthesizing the varus-valgus states of the knee joint corresponding to each action.

2. The lower limb force line real-time evaluation method according to claim 1, wherein Generating the varus-valgus state of the knee joint of the target object under each action specifically includes: Calculate the rotation radii of the first sensing device to the fourth sensing device relative to the femoral head rotation center and / or the knee joint rotation center according to the spatial position data. The rotation radii include the first rotation distance a1 of the first sensing device relative to the femoral head rotation center, the second rotation distance a1' of the second sensing device relative to the femoral head rotation center, the third rotation distance b1 of the third sensing device relative to the femoral head rotation center, the fourth rotation distance b1' of the fourth sensing device relative to the femoral head rotation center, the fifth rotation distance b2 of the third sensing device relative to the knee joint rotation center, and the sixth rotation distance b2' of the fourth sensing device relative to the knee joint rotation center; Determine whether the first rotation distance to the sixth rotation distance meet the preset determination conditions, and generate the varus-valgus state of the knee joint of the target object under each action according to the determination result. Specifically: If a1 = a1', b1 = b1' and b2 = b2', it is determined that the lower limb force line of the target object is centered; If a1 < a1', b1 < b1' and b2 = b2', it is determined that the lower limb force line of the target object is varus, and the varus is located on the femoral side; If a1 = a1', b1 < b1' and b2 < b2', it is determined that the lower limb force line of the target object is varus, and the varus is located on the tibial side; If a1 > a1', b1 > b1' and b2 = b2', it is determined that the lower limb force line of the target object is valgus, and the valgus is located on the femoral side; If a1 = a1', b1 > b1' and b2 > b2', it is determined that the lower limb force line of the target object is valgus, and the valgus is located on the tibial side.

3. The lower limb mechanical axis real-time evaluation method according to claim 2, wherein If there is a detection result that does not belong to the above determination conditions, a warning instruction is generated to remind that there is an error or mistake in the detection data of each sensing device.

4. The lower limb force line real-time evaluation method according to claim 1, characterized in that, characterized in that, Generating the varus-valgus state of the knee joint of the target object under each action specifically includes: Filter the target spatial position data, where the target spatial position data includes the spatial position data sent by the first sensing device or the second sensing device at the knee joint during the completion of the first type of movement and the spatial position data sent by the third sensing device or the fourth sensing device at the ankle joint during the completion of the second type of movement; the line connecting the center of the femoral head and the first sensing device or the second sensing device forms a right angle with the line connecting the medial and lateral sides of the knee joint; the line connecting the center of the femoral head and the third sensing device or the fourth sensing device forms a right angle with the line connecting the medial and lateral sides of the ankle joint; the line connecting the center of the knee joint and the third sensing device or the fourth sensing device forms a right angle with the line connecting the medial and lateral sides of the ankle joint; Calculate the first distance of the center of the knee joint relative to the center of the femoral head, the second distance of the center of the ankle joint relative to the center of the femoral head, and the third distance of the center of the ankle joint relative to the center of the knee joint according to the target spatial position data; Generate the varus / valgus state of the target object's knee joint under each movement according to the first distance, the second distance, and the third distance.

5. The real-time lower limb mechanical axis evaluation method according to any one of claims 1-4, characterized in that, The first sensing device, the second sensing device, the third sensing device, and the fourth sensing device include a gyroscope, an accelerometer, and / or a gravity sensor; the preset hip-knee joint movement includes at least one first type of movement centered on the hip joint and at least one second type of movement centered on the knee joint, and the spatial position data includes the position change value and the angle change value respectively sent by the first sensing device to the fourth sensing device during the target object's completion of the first type of movement and the second type of movement.

6. The real-time lower limb mechanical axis evaluation method according to claim 5, characterized in that Step 4 is specifically: By repeatedly executing a certain movement and adjusting the corresponding movement parameters during the execution process, generate the repeated monitoring results of the same type of movement and generate the varus / valgus state of the target object's knee joint under this type of movement; Repeat the above steps to generate the varus / valgus state of the target object's knee joint under each different type of movement, so as to generate the comprehensive evaluation results of multiple different types of movements.

7. The real-time lower limb mechanical axis evaluation method according to claim 6, wherein The method further includes: real-time monitoring of the varus / valgus state of the target object's knee joint under each movement to remind the target object of the target movement corresponding to the serious varus / valgus situation of the knee joint.

8. A real-time lower limb mechanical axis evaluation device, characterized in that, Based on the lower limb force line real-time evaluation method according to any one of claims 1-7, a first sensing device and a second sensing device are respectively provided on the medial and lateral sides of the target object's knee joint, and a third sensing device and a fourth sensing device are respectively provided on the medial and lateral sides of the ankle joint. The lower limb force line real-time evaluation device includes an instruction generation module, a data acquisition module, and a comprehensive evaluation module, The instruction generation module is used to generate a prompt instruction to drive the target object to complete the preset hip-knee joint movement, and the preset hip-knee joint movement includes a plurality of consecutive first type of movements centered on the hip joint and a second type of movement centered on the knee joint; The data acquisition module is used to acquire the spatial position data respectively sent by the first sensing device to the fourth sensing device during the hip-knee joint movement; The comprehensive evaluation module is used to determine the varus / valgus state of the target object's knee joint under each movement according to the spatial position data sent by the first sensing device to the fourth sensing device during each movement process; and for comprehensively generating the knee varus-valgus evaluation result of the target object according to the knee varus-valgus states corresponding to each movement.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, the real-time lower limb alignment evaluation method according to any one of claims 1-7 above is implemented.

10. A real-time lower limb mechanical axis evaluation device, comprising a computer-readable storage medium and a processor, characterized in that, When the processor executes the computer program on the computer-readable storage medium, the steps of the real-time lower limb alignment evaluation method according to any one of claims 1-7 above are implemented.

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