VR neural rehabilitation scene simulation method

Abstract

The invention discloses a VR (virtual reality) neural rehabilitation scene simulation method, relates to the technical field of virtual reality, and solves the problem that an existing method lacks accurate analysis of multiple dimensions such as motion tracks, motion speeds and angle features. Through double confirmation of motion module display and rehabilitation person trunk monitoring node movement tracks in a virtual scene, standard motion and substandard motion can be accurately recognized, and meanwhile, the movement tracks of the standard motion are verified and calibrated based on multiple dimensions such as vector features, angle features and movement speed; therefore, the neural function recovery condition of the rehabilitation person is comprehensively and accurately evaluated, and a reliable quantitative basis is provided for rehabilitation treatment. The substandard actions, substandard tracks and abnormal angle intervals are visually displayed, medical staff can visually and clearly know problems and obstacles existing in the specific action execution process of rehabilitation staff, rehabilitation difficulty points are rapidly positioned, and subjective judgment errors are avoided.

Description

Technical Field

[0001] The present invention relates to the field of virtual reality technology, and in particular to a VR neurorehabilitation scenario simulation method. Background Art

[0002] In the field of neurorehabilitation, traditional rehabilitation treatment methods mainly rely on manual operations of rehabilitation therapists and the assistance of simple equipment. There are problems such as single training scenarios, highly subjective rehabilitation assessments, and lack of personalization.

[0003] With the development of virtual reality (VR) technology, its application in neurorehabilitation has gradually increased. By simulating real-world scenarios, VR provides patients with an immersive rehabilitation training environment, which to some extent improves the dullness and inefficiency of traditional rehabilitation training. However, existing VR neurorehabilitation technology still has significant shortcomings in movement assessment and training effect determination.

[0004] Existing methods often simply compare the completion of patient movements with pre-set movements, lacking precise analysis of multiple dimensions such as movement trajectory, speed, and angular characteristics. This makes it difficult to comprehensively and accurately assess the patient's recovery. Consequently, the formulation of rehabilitation treatment plans lacks sufficient scientific basis, making it impossible to effectively meet the patient's personalized rehabilitation needs and achieving refined management and dynamic adjustment of the rehabilitation process. Therefore, a more scientific and accurate VR neurorehabilitation scenario simulation method is urgently needed to improve the quality and efficiency of neurorehabilitation treatment. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention provides a VR neurorehabilitation scenario simulation method, which solves the problem that the existing methods lack accurate analysis of multiple dimensions such as motion trajectory, movement speed, and angle characteristics.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: A VR neurorehabilitation scenario simulation method comprises the following steps:

[0007] The preset action modules in the virtual scene are displayed in sequence, and the movement trajectory of the monitoring nodes set at the torso of the rehabilitation personnel is simultaneously confirmed to identify the qualified and unqualified actions associated with the rehabilitation personnel. The specific method is as follows:

[0008] Confirm the display action currently being displayed in the virtual scene, and confirm the starting point and end point of the display action, the starting point and end point of which are preset in the virtual scene in advance;

[0009] Determine a preset display period for the display action, where the display period is the preset period, confirm the movement trajectory of the monitoring node within the display period, and confirm based on the movement trajectory whether the virtual action generated by the rehabilitation person in the virtual scene moves from the starting point to the end point. If so, record the current virtual action as a qualified action; if not, record the current virtual action as a non-qualified action;

[0010] And display the display actions associated with the confirmed non-compliant actions;

[0011] Confirm the motion trajectory associated with the standard action, and perform feature verification on the confirmed standard action and the associated demonstration action. By comparing the motion features associated with the demonstration action and the standard action, calibrate the standard trajectory and the non-standard trajectory from the motion trajectory. The method is as follows:

[0012] Based on the confirmed standard action, the display action associated with the standard action is locked, and the motion trajectory associated with the display action is recorded as the standard trajectory, and the motion trajectory associated with the standard action is recorded as the trajectory to be verified;

[0013] Starting from the starting point of the standard trajectory, the spatial vectors of adjacent points are gradually confirmed until the end point of the last set of spatial vectors coincides with the end point of the standard trajectory. The starting points of the confirmed sets of spatial vectors are coincident to confirm a set of vectors to be verified. From the set of vectors to be verified, the two sets of spatial vectors with the smallest angle are determined and recorded as adjacent vectors. The two-dimensional plane between the adjacent vectors is recorded as the plane to be verified.

[0014] Using the same confirmation method as the standard trajectory space vector, several groups of space vectors existing in the trajectory to be verified are confirmed in turn, and the confirmed space vectors are recorded as the vectors to be verified. The starting point of the vector to be verified is coincided with the starting point of the vector set to be verified, and it is identified whether the vector to be verified exists in any of the confirmed planes to be verified. If so, the motion trajectory between the two groups of points associated with the vector to be verified is calibrated as a qualified trajectory. If not, the motion trajectory between the two groups of points associated with the vector to be verified is calibrated as a non-qualified trajectory.

[0015] Also includes:

[0016] The motion trajectory associated with the demonstration action is recorded as the standard trajectory, and the motion trajectory associated with the standard action is recorded as the trajectory to be verified;

[0017] Determine the specific line lengths of the standard trajectory in different two-dimensional planes in three-dimensional space, select a group of two-dimensional planes with the largest specific line length values ​​as selected planes, generate a group of crosshairs in the selected planes, and move from the starting point to the end point of the standard trajectory. The center point of the crosshairs will coincide with any point on the standard trajectory during the movement process. Determine and record the angle data generated by the crosshairs during the movement process.

[0018] Confirm the trajectory to be verified in the selected plane, and use the same angle confirmation method to lock the several characteristic angles generated by the trajectory to be verified, and identify whether the corresponding characteristic angle exists in the recorded angle data. If not, the adjacent point connection line associated with the corresponding characteristic angle is recorded as a non-compliant trajectory. If so, the adjacent point connection line associated with the corresponding characteristic angle is recorded as a compliant trajectory.

[0019] Based on the specific motion characteristics of the qualified action and the demonstration action, the motion speed between the internal nodes of the motion trajectory is determined, and the trajectories that do not meet the motion speed standard are marked as non-qualified trajectories. The specific method is as follows:

[0020] According to the demonstration action associated with the target action, the movement speed V1 associated with the demonstration action is determined, and the movement speed is the preset speed. Based on the determined movement speed V1, a set of speed intervals [V1-X1, V1+X1] is determined, where X1 is the preset value.

[0021] Then confirm the movement speed between adjacent nodes of the motion trajectory corresponding to the standard action, and identify whether the confirmed movement speed belongs to the confirmed speed range. If not, the two groups of nodes associated with the corresponding movement speed are recorded as pending nodes, and the part of the trajectory associated between the pending nodes is recorded as a non-standard trajectory. If so, no calibration is performed.

[0022] Confirm the angle features of several groups of non-compliant trajectories associated with several groups of qualified actions, and verify the angle features associated with each base plane based on the three preset base planes. The specific method is as follows:

[0023] A set of three-dimensional coordinate systems is randomly generated in the virtual scene, and the different two-dimensional trajectories generated by different target-reaching actions in the two-dimensional planes of different three-dimensional coordinate systems are confirmed. The angle characteristics of several sets of two-dimensional trajectories associated in a single two-dimensional plane are verified.

[0024] Based on the non-compliant trajectories marked within the two-dimensional trajectory, starting from the origin of the two-dimensional coordinate system corresponding to the two-dimensional plane, confirm the angle ranges associated with the initial point and the end point of the corresponding non-compliant trajectory, cross-confirm several groups of angle ranges associated with different non-compliant trajectories, lock the cross-angle ranges, and record the cross-angle ranges with more than three crosses as angle features, and display the recorded angle features.

[0025] The present invention provides a VR neurorehabilitation scenario simulation method. Compared with the existing technology, it has the following advantages:

[0026] By dual-verifying the display of action modules in a virtual scene and the movement trajectory of the rehabilitation personnel's torso monitoring nodes, the present invention can accurately identify standard and substandard movements. It also verifies and calibrates the movement trajectory of standard movements based on multiple dimensions such as vector features, angle features, and movement speed, thereby comprehensively and accurately assessing the rehabilitation personnel's neurological function recovery and providing a reliable quantitative basis for rehabilitation treatment.

[0027] By visually displaying substandard movements, substandard trajectories, and abnormal angle intervals, medical staff can intuitively and clearly understand the problems and obstacles encountered by rehabilitation personnel during the execution of specific movements, quickly identify rehabilitation difficulties, avoid subjective judgment errors, and provide an intuitive reference for formulating personalized rehabilitation treatment plans;

[0028] Based on accurate assessment and intuitive display, medical staff can adjust rehabilitation treatment plans in a timely and scientific manner according to the actual rehabilitation status of the rehabilitation personnel. They can design rehabilitation training content and intensity in a targeted manner to address problems reflected by substandard trajectories and abnormal angle ranges, thereby improving the effectiveness and efficiency of rehabilitation treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Schematic diagram of the process of the present invention;

[0030] Figure 2 Schematic diagram for determining angle data of the present invention. DETAILED DESCRIPTION

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0032] In the VR neurorehabilitation scenario, the relevant rehabilitation personnel enter the virtual scene by wearing VR equipment, and monitoring sensors are installed in various parts of the torso to monitor the movement behavior of the torso. In the virtual scene, there are specific action modules, and each action module has several preset demonstration actions, such as: raising the hand from the bottom to the highest point, etc. There is an action display environment. The rehabilitation personnel control their torso to move according to the specific dynamic changes of the demonstration action. The monitoring sensors are used to monitor the corresponding movement process to conduct actual testing of the rehabilitation status and output the corresponding test results for display;

[0033] See also Figure 1 , this application provides a VR neurorehabilitation scenario simulation method, comprising the following steps:

[0034] Step 1. Perform the actions of the preset action modules in the virtual scene in turn, and simultaneously confirm the movement trajectory of the monitoring node set at the torso of the rehabilitation personnel. Based on the specific confirmation process, identify the standard actions and non-standard actions associated with the rehabilitation personnel. Each group of displayed actions in the action module has a starting point and an end point, which are marked in advance. Suppose it is a group of hand movements, moving from a certain point to the head position, then there is a preset end point at the head position, and a certain point at the beginning belongs to the corresponding starting point. When the rehabilitation personnel's hands move, the positioning sensor associated with the corresponding monitoring node detects the position change, and generates the corresponding hand movement scene in real time in the virtual scene. It is prioritized to determine whether the hand movement of the corresponding torso personnel has reached the starting point, and then identify whether it has reached the corresponding end point based on the movement trajectory of the displayed action, so as to perform a specific assessment of the standard actions and non-standard actions;

[0035] The specific methods for identification are:

[0036] Confirm the display action currently being displayed in the virtual scene, and confirm the starting point and end point of the display action, the starting point and end point of which are preset in the virtual scene in advance;

[0037] Determine the preset display period of the display action. The display period is a preset period, which is prepared in advance by relevant operators based on experience, and is generally set at 1 minute. Confirm the movement trajectory of the monitoring node within the display period, and confirm whether the virtual action generated by the rehabilitation personnel in the virtual scene moves from the starting point to the end point based on the movement trajectory. If so, the current virtual action is recorded as a standard action. If not, the current virtual action is recorded as a non-standard action. That is, the virtual action generated in the virtual scene is verified with the preset display action to identify whether the corresponding virtual action meets the standard. If the corresponding rehabilitation personnel completes the relevant action trajectory of the corresponding display action according to the normal movement trajectory, then it moves from the starting point to the end point, which means that the corresponding virtual action meets the standard. Otherwise, it means that the corresponding rehabilitation personnel has not completed the specified action, that is, the corresponding virtual action does not meet the standard.

[0038] The demonstration actions associated with the confirmed substandard actions will be displayed for external medical staff to view, indicating that the rehabilitation personnel cannot complete such actions. Among them, the medical staff can clearly know the specific rehabilitation status of the corresponding rehabilitation personnel based on the displayed substandard actions, which is convenient for subsequent specific treatment plans.

[0039] Step 2: Confirm the motion trajectory associated with the standard action, and perform feature verification on the confirmed standard action and the associated display action. By comparing the motion features associated with the display action and the standard action, the standard trajectory and the non-standard trajectory are calibrated from the motion trajectory. Specifically, when calibrating the standard trajectory and the non-standard trajectory, a comprehensive assessment can be performed based on the vector features or angle features between adjacent points. The standard trajectory is the trajectory that moves according to the preset trajectory, which is the movement trajectory of the display action.

[0040] There are two ways to perform feature verification: confirming the target trajectory based on the vector features between adjacent points or the angles between adjacent points in the motion trajectory;

[0041] The specific method of confirming the target trajectory based on the vector features between adjacent points is as follows:

[0042] Based on the confirmed standard action, the display action associated with the standard action is locked, and the motion trajectory associated with the display action is recorded as the standard trajectory, and the motion trajectory associated with the standard action is recorded as the trajectory to be verified;

[0043] Starting from the starting point of the standard trajectory, the spatial vectors of adjacent points are gradually confirmed until the end point of the last set of spatial vectors coincides with the end point of the standard trajectory. The starting points of the confirmed sets of spatial vectors are coincident to confirm a set of vectors to be verified. From the set of vectors to be verified, the two sets of spatial vectors with the smallest angle are determined and recorded as adjacent vectors. The two-dimensional plane between the adjacent vectors is recorded as the plane to be verified.

[0044] Using the same confirmation method as the standard trajectory space vector, several groups of space vectors existing in the trajectory to be verified are confirmed in turn, and the confirmed space vectors are recorded as the vectors to be verified. The starting point of the vector to be verified is coincided with the starting point of the vector set to be verified, and it is identified whether the vector to be verified exists in any of the confirmed planes to be verified. If so, the motion trajectory between the two groups of points associated with the vector to be verified is calibrated as a qualified trajectory. If not, the motion trajectory between the two groups of points associated with the vector to be verified is calibrated as a non-qualified trajectory.

[0045] Specifically, its standard trajectory is the motion trajectory of the corresponding display action under normal display state, and its corresponding standard trajectory is the corresponding standard state. There is a set of spatial vectors between adjacent points, so several adjacent points can form several spatial vectors. Then, when several spatial vectors are combined, the corresponding set of vectors to be verified can be confirmed. There are several spatial vectors in the trajectory generated during the actual operation process. After each spatial vector is combined with the set of vectors to be verified, the two-dimensional plane to which the corresponding spatial vector belongs can be quickly and effectively confirmed, so that the specific confirmation of the standard trajectory can be quickly and effectively carried out.

[0046] The method for confirming the target trajectory based on the angles of adjacent points in the motion trajectory is as follows:

[0047] The motion trajectory associated with the demonstration action is recorded as the standard trajectory, and the motion trajectory associated with the standard action is recorded as the trajectory to be verified;

[0048] Combine Figure 2 , confirm the specific line length of the standard trajectory in different two-dimensional planes in three-dimensional space, select a group of two-dimensional planes with the largest specific line length value as the selected plane, generate a group of cross cursors in the selected plane, and move from the starting point to the end point of the standard trajectory. The center point of the cross cursor will coincide with any point of the standard trajectory during the movement process. Confirm and record the angle data generated by the cross cursor during the movement process. The recorded angle data includes Figure 2 Angle A in

[0049] Confirm the track to be verified in the selected plane, and use the same angle confirmation method to lock several characteristic angles generated by the track to be verified, and identify whether the corresponding characteristic angle exists in the recorded angle data. If so, the adjacent point connection line associated with the corresponding characteristic angle is recorded as the qualified track; if not, the adjacent point connection line associated with the corresponding characteristic angle is recorded as the unqualified track;

[0050] Specifically, when the corresponding motion trajectory and the corresponding cross cursor generate an angle, it is not the overlapping points that generate the angle, but the overlapping point and the partial line segment between the next adjacent point and the cross cursor that generate the angle. Then it is the corresponding partial line segment. When the angle generated by the partial line segment and the cross cursor exists in the recorded angle data, it means that the corresponding trajectory is a qualified trajectory. Otherwise, it means that the corresponding trajectory is a substandard trajectory. Similarly, the corresponding motion trajectory can be divided into a qualified trajectory or a substandard trajectory, completing the specific calibration of the generated trajectory to be verified as meeting the standard or not.

[0051] Step 3: Based on the specific motion characteristics of the qualified action and the demonstration action, determine the motion speed between the internal nodes of the motion trajectory, and calibrate the trajectories that do not meet the motion speed standards as substandard trajectories. The specific method of calibration is as follows:

[0052] Based on the demonstration action associated with the target action, determine the movement speed V1 associated with the demonstration action (this movement speed is generally a fixed value; if there are multiple movement speeds, an average is required). The movement speed is the preset speed. Based on the confirmed movement speed V1, determine a set of speed intervals [V1-X1, V1+X1], where X1 is a preset value, generally 0.02 m / s.

[0053] Then, the motion speed between adjacent nodes of the motion trajectory corresponding to the standard action is confirmed, and it is identified whether the confirmed motion speed belongs to the confirmed speed range. If so, no calibration is performed. If not, the two groups of nodes associated with the corresponding motion speed are recorded as pending nodes, and the part of the trajectory associated between the pending nodes is recorded as a non-standard trajectory;

[0054] Specifically, for some trajectories whose movement speed does not meet the standard, in the actual operation process, it also means that the corresponding rehabilitation personnel have difficulties in performing the corresponding movements. In this case, such substandard trajectories will need to be subsequently confirmed in angle for angle display to facilitate subsequent rehabilitation treatment work.

[0055] Step 4: Confirm the angle features of several groups of non-standard trajectories associated with several groups of standard movements. Verify the angle features associated with each base plane based on three preset base planes (generally the top view, side view, and front view). Lock the abnormal angle intervals and display them. Subsequently, the corresponding medical staff will make subsequent adjustments to the rehabilitation treatment based on the displayed abnormal angle intervals.

[0056] The specific method for verifying the angle feature is as follows:

[0057] A set of three-dimensional coordinate systems is randomly generated in the virtual scene, and the different two-dimensional trajectories generated by different target-reaching actions in the two-dimensional planes of different three-dimensional coordinate systems are confirmed. The angle characteristics of several sets of two-dimensional trajectories associated in a single two-dimensional plane are verified.

[0058] Based on the non-compliant trajectory calibrated within the two-dimensional trajectory, starting from the origin of the two-dimensional coordinate system corresponding to the two-dimensional plane, confirm the angle range associated with the initial point and the end point of the corresponding non-compliant trajectory, cross-check several groups of angle ranges associated with different non-compliant trajectories, lock the cross-angle range, and record the cross-angle range that crosses more than three groups as an angle feature. The recorded angle feature is displayed for external relevant personnel to view;

[0059] Specifically, different two-dimensional planes and different non-standard trajectories will produce different angle ranges, so that the corresponding intersection situations can be confirmed to achieve specific confirmation of the angle characteristics. Subsequently, specific medical staff can effectively determine the relevant rehabilitation status of the corresponding rehabilitation personnel based on the corresponding angle characteristics, and implement subsequent different rehabilitation treatment plans to achieve better rehabilitation treatment effects.

[0060] Some of the data in the above formulas are dimensionless and numerically calculated. Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0061] The above embodiments are only used to illustrate the technical method of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. VR neurorehabilitation scenario simulation method, characterized by: The following steps are involved: The preset action modules in the virtual scene are displayed in sequence, and the movement trajectory of the monitoring nodes set at the torso of the rehabilitation personnel is simultaneously confirmed to identify the rehabilitation personnel's associated standard actions and non-standard actions; Confirm the motion trajectory associated with the standard action, and perform feature verification on the confirmed standard action and the associated demonstration action. By comparing the motion features associated with the demonstration action and the standard action, the standard trajectory and the non-standard trajectory are calibrated from the motion trajectory; Based on the specific motion characteristics of the qualified action and the demonstrated action, the motion speed between the internal nodes of the motion trajectory is determined, and the part of the trajectory that does not meet the motion speed standard is marked as a non-qualified trajectory; The angle features of several groups of non-standard trajectories associated with several groups of standard actions are confirmed, and the angle features associated with each base surface are verified based on the preset three base surfaces.

2. The VR neurorehabilitation scenario simulation method according to claim 1, characterized in that: The specific method for confirming the movement trajectory of the monitoring node set at the torso of the rehabilitation personnel is as follows: Confirm the display action currently being displayed in the virtual scene, and confirm the starting point and end point of the display action, the starting point and end point of which are preset in the virtual scene in advance; Determine a preset display period for the display action, where the display period is the preset period, confirm the movement trajectory of the monitoring node within the display period, and confirm based on the movement trajectory whether the virtual action generated by the rehabilitation person in the virtual scene moves from the starting point to the end point. If so, record the current virtual action as a qualified action; if not, record the current virtual action as a non-qualified action; And display the display actions associated with the confirmed non-compliant actions.

3. The VR neurorehabilitation scenario simulation method according to claim 1, characterized in that: The method for checking the motion features associated with the demonstration action and the target action is as follows: Based on the confirmed standard action, the display action associated with the standard action is locked, and the motion trajectory associated with the display action is recorded as the standard trajectory, and the motion trajectory associated with the standard action is recorded as the trajectory to be verified; Starting from the starting point of the standard trajectory, the spatial vectors of adjacent points are gradually confirmed until the end point of the last set of spatial vectors coincides with the end point of the standard trajectory. The starting points of the confirmed sets of spatial vectors are coincident to confirm a set of vectors to be verified. From the set of vectors to be verified, the two sets of spatial vectors with the smallest angle are determined and recorded as adjacent vectors. The two-dimensional plane between the adjacent vectors is recorded as the plane to be verified. The same confirmation method as the standard trajectory space vector is adopted to confirm several groups of space vectors in the trajectory to be verified in turn, and the confirmed space vectors are recorded as the vectors to be verified. The starting point of the vector to be verified is coincided with the starting point of the vector set to be verified, and it is identified whether the vector to be verified exists in any confirmed plane to be verified. If so, the motion trajectory between the two groups of points associated with the vector to be verified is calibrated as a qualified trajectory. If not, the motion trajectory between the two groups of points associated with the vector to be verified is calibrated as a non-qualified trajectory.

4. The VR neurorehabilitation scenario simulation method according to claim 1, characterized in that: Methods for verifying the motion features associated with the demonstration action and the target action also include: The motion trajectory associated with the demonstration action is recorded as the standard trajectory, and the motion trajectory associated with the standard action is recorded as the trajectory to be verified; Determine the specific line lengths of the standard trajectory in different two-dimensional planes in three-dimensional space, select a group of two-dimensional planes with the largest specific line length values ​​as selected planes, generate a group of crosshairs in the selected planes, and move from the starting point to the end point of the standard trajectory. The center point of the crosshairs will coincide with any point on the standard trajectory during the movement process. Determine and record the angle data generated by the crosshairs during the movement process. Confirm the track to be verified in the selected plane, and use the same angle confirmation method to lock the several characteristic angles generated by the track to be verified, and identify whether the corresponding characteristic angle exists in the recorded angle data. If not, the adjacent point connection line associated with the corresponding characteristic angle will be recorded as a non-compliant track.

5. The VR neurorehabilitation scenario simulation method according to claim 4, characterized in that: If the corresponding characteristic angle exists in the recorded angle data, the line connecting the adjacent points associated with the corresponding characteristic angle is recorded as the target trajectory.

6. The VR neurorehabilitation scenario simulation method according to claim 1, characterized in that: The specific method of marking the part of the trajectory whose movement speed does not meet the standard as a non-standard trajectory is: According to the demonstration action associated with the target action, the movement speed V1 associated with the demonstration action is determined, and the movement speed is the preset speed. Based on the determined movement speed V1, a set of speed intervals [V1-X1, V1+X1] is determined, where X1 is the preset value. Then, the motion speed between adjacent nodes of the motion trajectory corresponding to the standard action is confirmed, and it is identified whether the confirmed motion speed belongs to the confirmed speed range. If not, the two groups of nodes associated with the corresponding motion speed are recorded as pending nodes, and the part of the trajectory associated between the pending nodes is recorded as a non-standard trajectory.

7. The VR neurorehabilitation scenario simulation method according to claim 6, characterized in that: If the identified movement speed falls within the identified speed range, no calibration is performed.

8. The VR neurorehabilitation scenario simulation method according to claim 1, characterized in that: The specific method for confirming the angle characteristics of several groups of substandard trajectories is as follows: A set of three-dimensional coordinate systems is randomly generated in the virtual scene, and the different two-dimensional trajectories generated by different target-reaching actions in the two-dimensional planes of different three-dimensional coordinate systems are confirmed. The angle characteristics of several sets of two-dimensional trajectories associated in a single two-dimensional plane are verified. Based on the non-compliant trajectories marked within the two-dimensional trajectory, starting from the origin of the two-dimensional coordinate system corresponding to the two-dimensional plane, confirm the angle ranges associated with the initial point and the end point of the corresponding non-compliant trajectory, cross-confirm several groups of angle ranges associated with different non-compliant trajectories, lock the cross-angle ranges, and record the cross-angle ranges with more than three crosses as angle features, and display the recorded angle features.

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