Adaptive balance adjustment method and system for post-operative walking aid for animals

Abstract

The application provides an adaptive balance adjustment method and system for postoperative walking aids for animals, and relates to the technical field of balance adjustment. The method comprises the following steps: establishing a constraint matrix and a demand matrix according to the preoperative state and the operation content of an animal; obtaining adjustment parameters of a four-limb adjustment unit; mapping the adjustment parameter set to the constraint matrix and the demand matrix in sequence, obtaining out-of-range parameters, and cutting from the adjustment parameter set; performing four-limb coordination balance evaluation according to the feasible adjustment parameter set, performing adjustment parameter screening according to the balance evaluation, and sending the target four-limb adjustment parameters to the four-limb adjustment unit according to the four-limb positioning for four-limb adjustment. The application solves the technical problem that the postoperative walking aid is difficult to accurately adapt to the postoperative recovery needs of individual animals due to the standardized design of the postoperative walking aid, and the adaptability of the postoperative walking aid is insufficient. The adaptability of the postoperative walking aid is improved by accurately adapting to the recovery needs.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of balance adjustment, and particularly relates to an adaptive balance adjustment method and system for a postoperative walking aid for animals. BACKGROUND

[0002] At present, most of the existing postoperative walking aids for animals adopt a fixed structure to uniformly fix the limbs of animals. However, different animals have large differences in body size, and the postoperative recovery of animals is a dynamic process, and different animals have different postoperative recovery progress. The adjustment capability of the fixed structure of the aid is limited and lacks personalized adaptation mechanism, and it is difficult to accurately correspond to the unique postoperative state and the changing recovery process of each animal, and it is easy to appear excessive restriction affecting recovery or insufficient support increasing secondary risk. Due to the fact that the general design does not fully consider the individual differences and dynamic changes of animals, the adaptability of the postoperative walking aid is insufficient.

[0003] In summary, in the prior art, there is a technical problem that the postoperative walking aid adopts standardized design, and it is difficult to accurately adapt to the postoperative recovery needs of individual animals, resulting in insufficient adaptability of the postoperative walking aid. SUMMARY

[0004] The purpose of the present application is to provide an adaptive balance adjustment method and system for a postoperative walking aid for animals, to solve the technical problem in the prior art that the postoperative walking aid adopts standardized design, and it is difficult to accurately adapt to the postoperative recovery needs of individual animals, resulting in insufficient adaptability of the postoperative walking aid.

[0005] In view of the above problems, the present application provides an adaptive balance adjustment method and system for a postoperative walking aid for animals.

[0006] In a first aspect, the present application provides an adaptive balance adjustment method for a postoperative walking aid for animals, which is realized by an adaptive balance adjustment system for a postoperative walking aid for animals, wherein the adaptive balance adjustment method for a postoperative walking aid for animals comprises: analyzing postoperative limb movement restriction constraints and rehabilitation movement needs of animals according to preoperative state and operation content of animals, establishing a constraint matrix and a demand matrix; obtaining adjustment parameters of a limb adjustment unit, performing grid traversal on the adjustment parameters of the limb adjustment unit, and constructing an adjustment parameter set; mapping the adjustment parameter set into the constraint matrix and the demand matrix in turn, obtaining out-of-range parameters through matrix checking, clipping the out-of-range parameters from the adjustment parameter set to obtain a feasible adjustment parameter set; performing limb coordination balance evaluation according to the feasible adjustment parameter set, performing adjustment parameter screening according to the balance evaluation, obtaining target limb adjustment parameters, and sending the target limb adjustment parameters to the limb adjustment unit according to limb positioning for limb adjustment.

[0007] Optionally, the standard movement support relationship of the animal's limbs is established; the positional state of the standard movement support relationship of the animal's limbs is changed according to the preoperative state of the animal and the operation content, so that a postoperative abnormal limb movement support relationship is obtained; the range and amplitude of the limb movement restriction are analyzed according to the postoperative abnormal limb movement support relationship; the rehabilitation movement support target is analyzed according to the postoperative abnormal limb movement support relationship based on the standard movement support relationship of the animal's limbs, so that the rehabilitation movement requirement is obtained; the movement correlation influence factors of the range and amplitude of the limb movement restriction and the rehabilitation movement requirement are respectively decomposed, so that the constraint factors and the requirement factors are obtained, and the constraint matrix and the requirement matrix are constructed.

[0008] Optionally, the movement influence factors are decomposed according to the range and amplitude of the limb movement restriction and the rehabilitation movement requirement by using the animal movement experiment data, so that the action constraint characteristics corresponding to the range and amplitude of the limb movement restriction and the target balance action characteristics corresponding to the rehabilitation movement requirement are respectively obtained; the correlation influence factors and the movement threshold of the action joint are obtained by decomposing the action constraint characteristics and the target balance action characteristics, so that the constraint factors and the requirement factors are obtained.

[0009] Optionally, the adjustment angle, the angle adjustment amplitude and the adjustment height of the limb adjustment unit are respectively obtained, and the adjustment parameter grid of the limb is constructed; two limb adjustment units are randomly selected in the limb adjustment unit, one as a starting limb and one as a second limb, and a linkage constraint relationship between the starting limb and the second limb is established; the adjustment parameter grid of the second limb is closed based on the linkage constraint relationship, the adjustment parameter grid of the initial limb is combined with the adjustment parameter grid of the second limb through grid traversal, and a first combined parameter grid is obtained; the linkage constraint relationship between a third limb and the starting limb and the second limb is obtained, the adjustment parameter grid of the third limb is closed based on the linkage constraint relationship, and the first combined parameter grid is combined with the adjustment parameter grid of the third limb through grid traversal, and a second combined parameter grid is obtained; the grid traversal combination of the second combined parameter grid and the adjustment parameter grid of a fourth limb is iteratively completed, and a final combined parameter grid is obtained; the adjustment parameter combination in the final combined parameter grid is extracted, and the adjustment parameter set is obtained.

[0010] Optionally, a rehabilitation period is set, including at least an initial acute phase, a medium subacute phase and a late functional phase; the width threshold of the analysis adjustment parameter is set according to the operation content, the grid density of each rehabilitation period is determined, and the adjustment parameter set matched in the preliminary screening is obtained by preliminary screening in the adjustment parameter set based on the grid density.

[0011] Optionally, the constraint matrix and the demand matrix are written into a verification firmware as check matrices; the adjustment parameter set of the preliminary screening is mapped into the check matrices of the verification firmware in sequence to obtain an out-of-range parameter; and the adjustment parameter set is pruned according to the out-of-range parameter to obtain the feasible adjustment parameter set.

[0012] Optionally, a double-loop balancing mechanism is established, including an inner loop for balancing local safety and an outer loop for balancing overall stability; the feasible adjustment parameter set is balanced and evaluated by the inner loop and the outer loop by using the double-loop balancing mechanism to obtain a balancing evaluation value; and the target four-limb adjustment parameters are obtained by adjusting the parameters according to the balancing evaluation value.

[0013] Optionally, the limiting threshold of each limb and joint is used as an inner-loop sub-gate of each adjustment unit, and the balancing dependency relationship between the joints of the four limbs is used as an inner-loop parent gate; the inner-loop balancing mechanism is constructed by using the inner-loop sub-gate and the inner-loop parent gate; the outer-loop gate is determined according to the balancing dependency relationship of the four-limb adjustment units and the relative influence position of the animal's center of gravity, wherein the outer-loop gate includes an outer-loop balancing constraint parameter, and the outer-loop balancing mechanism is constructed; and the double-loop balancing mechanism is established by merging the inner-loop balancing mechanism and the outer-loop balancing mechanism.

[0014] Optionally, the kinematic data of the animal's limbs and the weight distribution in walking assistance are collected by a flexible pressure sensing network; the difference data are obtained by matrix mapping and matching the kinematic data of the limbs and the weight distribution with the constraint matrix and the demand matrix; and the four-limb adjustment parameters are reset by adaptive balancing adjustment and compensation according to the difference data.

[0015] In a second aspect, the application further provides an adaptive balancing adjustment system for a postoperative walking aid for animals, which is used to execute the adaptive balancing adjustment method for a postoperative walking aid for animals as described in the first aspect, wherein the adaptive balancing adjustment system for a postoperative walking aid for animals comprises: a demand analysis module, which is used to analyze the postoperative four-limb movement restriction constraints and rehabilitation movement demands of an animal according to the preoperative state and the surgical content, and establish a constraint matrix and a demand matrix; an adjustment parameter traversal module, which is used to obtain adjustment parameters of four-limb adjustment units, perform grid traversal on the adjustment parameters of the four-limb adjustment units, and construct an adjustment parameter set; a parameter mapping and pruning module, which is used to map the adjustment parameter set into the constraint matrix and the demand matrix in sequence, obtain an out-of-range parameter through matrix checking, prune the out-of-range parameter from the adjustment parameter set, and obtain a feasible adjustment parameter set; and a four-limb coordination and balancing evaluation module, which is used to perform four-limb coordination and balancing evaluation according to the feasible adjustment parameter set, perform adjustment parameter screening according to the balancing evaluation, obtain target four-limb adjustment parameters, and send the target four-limb adjustment parameters to the four-limb adjustment units according to the four-limb positioning to perform four-limb adjustment.

[0016] The one or more technical solutions provided in the application have at least the following beneficial effects:

[0017] By analyzing the postoperative limb movement restriction constraints and rehabilitation movement requirements of the animal according to the preoperative state and the operation content of the animal, a constraint matrix and a requirement matrix are established; adjustment parameters of a limb adjustment unit are obtained, the adjustment parameters of the limb adjustment unit are grid-traversed to construct an adjustment parameter set; the adjustment parameter set is sequentially mapped into the constraint matrix and the requirement matrix, and out-of-range parameters are obtained through matrix checking, the out-of-range parameters are trimmed from the adjustment parameter set to obtain a feasible adjustment parameter set; the limb coordination and balance are evaluated according to the feasible adjustment parameter set, the adjustment parameters are screened according to the balance evaluation, target limb adjustment parameters are obtained, and the target limb adjustment parameters are sent to the limb adjustment unit according to the limb positioning for limb adjustment. That is, according to the preoperative state and the operation content of the animal, the postoperative limb movement restriction and rehabilitation requirements are analyzed, a personalized constraint matrix and a requirement matrix are established, the adjustment parameters of the limb adjustment unit are grid-traversed to construct an adjustment parameter set, the out-of-range parameters that do not meet the rehabilitation requirements are eliminated, and the adjustment parameters are dynamically adjusted according to the recovery progress of the animal at each stage, so that the recovery requirements at each stage can be met with appropriate parameters, and the adaptability of the postoperative walking aid is improved.

[0018] The above description is only a summary of the technical solutions of the application, in order to more clearly understand the technical means of the application, the specific embodiments of the application can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the application more obvious and easy to understand, the following specific embodiments of the application are described. It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the application, nor is it intended to limit the scope of the application. Other features of the application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed in the embodiments or the prior art description. Obviously, the drawings in the following description are only exemplary, and other drawings can be obtained by those skilled in the art without creating laborious work on the basis of the provided drawings.

[0020] Figure 1 The flowchart of the adaptive balance adjustment method for the postoperative walking aid for animals of the application.

[0021] Figure 2 The structural schematic diagram of the adaptive balance adjustment system for the postoperative walking aid for animals of the application.

[0022] Legend: demand analysis module 11, adjustment parameter traversal module 12, parameter mapping clipping module 13, four-limb coordination and balance evaluation module 14. DETAILED DESCRIPTION

[0023] The present application provides an adaptive balance adjustment method and system for postoperative walking aids for animals, which solves the technical problem of poor adaptability of postoperative walking aids in the prior art due to the use of standardized design for postoperative walking aids, which makes it difficult to accurately adapt to the postoperative recovery needs of individual animals. According to the preoperative state of the animal and the surgical content, the postoperative limb movement restriction and rehabilitation demand are analyzed, a personalized constraint matrix and demand matrix are established, the adjustment parameters of the four-limb adjustment unit are traversed in a grid, the adjustment parameter set is constructed, the out-of-range parameters that do not meet the rehabilitation demand are eliminated, and the adjustment parameters are dynamically adjusted according to the recovery progress of the animal at each stage, ensuring that the recovery demand at each stage can be met with appropriate parameters, avoiding the problem of poor adaptability caused by general design, and improving the adaptability of postoperative walking aids for animals.

[0024] Hereinafter, the technical solutions in the present application will be described clearly and completely with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of the present application. In addition, it should be noted that, for convenience of description, only parts related to the present application are shown in the drawings, not all.

[0025] Embodiment one, please refer to the accompanying Figure 1 The present application provides an adaptive balance adjustment method for postoperative walking aids for animals, wherein the adaptive balance adjustment method for postoperative walking aids for animals is executed by an adaptive balance adjustment system for postoperative walking aids for animals, and the adaptive balance adjustment method for postoperative walking aids for animals specifically includes the following steps:

[0026] According to the preoperative state of the animal and the surgical content, the postoperative limb movement restriction and rehabilitation demand are analyzed, a personalized constraint matrix and demand matrix are established, the adjustment parameters of the four-limb adjustment unit are traversed in a grid, the adjustment parameter set is constructed, the out-of-range parameters that do not meet the rehabilitation demand are eliminated, and the adjustment parameters are dynamically adjusted according to the recovery progress of the animal at each stage, ensuring that the recovery demand at each stage can be met with appropriate parameters, avoiding the problem of poor adaptability caused by general design, and improving the adaptability of postoperative walking aids for animals.

[0027] Further, the application further comprises the following steps: establishing a standard motion support relationship of animal limbs; changing the positioning state of the standard motion support relationship of animal limbs according to the preoperative state of the animal and the operation content, to obtain a postoperative abnormal limb motion support relationship; analyzing the range and amplitude of the limb motion restriction constraint according to the postoperative abnormal limb motion support relationship; taking the standard motion support relationship of animal limbs as a reference, analyzing the rehabilitation motion support target according to the postoperative abnormal limb motion support relationship, to obtain the rehabilitation motion requirement; respectively decomposing the range and amplitude of the limb motion restriction constraint and the rehabilitation motion requirement into motion correlation influence factors, to obtain constraint factors and requirement factors, and constructing the constraint matrix and the requirement matrix.

[0028] Further, the application further comprises the following steps: using animal motion experiment data, decomposing motion influence factors according to the range and amplitude of the limb motion restriction constraint and the rehabilitation motion requirement, to respectively obtain motion constraint characteristics corresponding to the range and amplitude of the limb motion restriction constraint, and target balance motion characteristics corresponding to the rehabilitation motion requirement; and decomposing the motion constraint characteristics and the target balance motion characteristics to obtain correlation influence factors and motion thresholds of motion joints, to obtain the constraint factors and the requirement factors.

[0029] Specifically, the standard motion support relationship of animal limbs is established, i.e., the relationship between the motion range, motion ability and support requirement of each limb of a healthy animal under standard walking (such as a specific speed), i.e., the motion data when standing. By measuring the walking gait data of a healthy animal, key data such as the joint angle of each limb, gait cycle and weight distribution of the animal are obtained, to form the standard motion support relationship of the limbs. For example, a preoperative healthy animal is subjected to gait analysis, and it is found that the support force of the left front leg and the right rear leg is 40% and 40% (total 80% support force) respectively each time when walking, and the remaining 20% is the support force of other legs. The angle range of the limbs is 0° to 50° (the angle between the standing leg and the ground), and the weight distribution of each limb is uniform in the healthy state.

[0030] Obtain the animal's preoperative state and the surgical content. The animal's preoperative state refers to the animal's health condition, activity ability, body weight, and body size before surgery. Through preoperative imaging examination and physical examination, the position needing surgery and the possible movement injury situation are confirmed. The surgical content is the specific surgical site (such as the left hind limb knee joint and lumbar vertebrae), the type of surgery (such as joint replacement, internal fixation of fracture, and nerve exploration), the surgical range, and the expected impact on limb function. According to the preoperative state and the surgical content, the positioning state change of the standard movement support relationship of the animal's limbs is performed, and the specific parameters in the standard movement support relationship are adjusted or modified to simulate or predict the movement mode change that occurs directly due to surgery on a specific limb or joint. The postoperative abnormal limb movement support relationship is the relationship model obtained after the positioning state change, which reflects the movement mode that may occur in the early postoperative period due to surgical trauma, pain, tissue repair needs, or the presence of fixation devices, which deviates from the normal standard movement mode. The healthy baseline is no longer a healthy baseline, but a movement mode prediction with surgical marks that may have abnormalities (such as restrictions, compensations).

[0031] The standard model at the general or species level is personalized to the specific surgical case, and the surgical records and preoperative assessment information are carefully analyzed. For example, if an animal weighing 25 kg receives surgery on the right hind limb, the right hind knee joint needs to be stabilized, but the early postoperative period may be limited due to pain and swelling. According to the normal flexion and extension range of the hind limb knee joint in the standard model (such as 0 to 130 degrees), combined with the surgical content and the doctor's experience, the positioning state change is performed, and the predicted abnormal support relationship in the early postoperative period (such as the first week) is set as: the flexion and extension range of the right hind knee joint is limited to 0 to 60 degrees, and may be accompanied by a slight hyperextension protective posture (such as 5 degrees). At the same time, considering the decrease in pain and weight-bearing ability, it is predicted that the peak ground reaction force of the right hind limb will be significantly reduced, such as from the normal 1.0 × BW (245 N) to 0.3 to 0.5 × BW (74 to 123 N), and there may be lameness, leading to compensatory changes in the force patterns of the left hind limb and the forelimbs (such as the peak force of the left hind limb may increase to 1.2 to 1.5 × BW (294 to 368 N), and the forelimbs are more evenly stressed but the peak may be slightly lower), which is the postoperative abnormal limb movement support relationship.

[0032] Based on the support relationship of postoperative limb movement abnormalities, the range and amplitude of limb movement restriction were analyzed. The range of limb movement restriction is the interval within which the mobility of each joint or limb is restricted during postoperative movement, i.e., the maximum range of motion that the limbs can perform. For example, the normal range of motion of a joint is 0 to 130 degrees, but the postoperative restriction range may be 0 to 60 degrees, so the restriction range is the interval of 0 to 60 degrees. The amplitude of restriction is the amount or degree to which the mobility of each joint or limb is reduced in various movement dimensions (such as flexion and extension, inversion and vaulting, adduction and abduction), which is the maximum allowable deviation of limb movement. For example, the restriction range of the right posterior knee joint in flexion is 0-60 degrees; the amplitude of restriction is 70-80 degrees; in the right posterior knee joint in extension: if the standard allows hyperextension to -10 degrees, the postoperative restriction is 0 degrees; the restriction range is 0 degrees; the amplitude of restriction is 0 - (-10) = 10 degrees. Flexion-extension speed: If the standard maximum is 30-50 degrees / second, the postoperative predicted maximum is 25 degrees / second; constraint amplitude = 50-25 = 25 degrees / second.

[0033] Based on the standard limb support relationship of the animal, and considering any abnormal limb support relationships after surgery, combined with the rehabilitation plan provided by the veterinarian (such as limiting weight-bearing in the first week post-surgery and initiating gentle activities in the second week), rehabilitation movement needs are determined. Rehabilitation movement support goals are typically set by the veterinarian based on the animal's surgery, aiming to help the animal gradually regain normal mobility. These goals represent the ideal mobility or gait goals the animal needs to achieve during the post-operative recovery phase. Rehabilitation goals might include gradually restoring the weight-bearing capacity of the left hind limb, enabling it to withstand support forces comparable to the right hind limb. For example, gradually increasing weight-bearing from 20% initially to 40%, and gradually expanding the angle range of the left hind limb from 0° to 30° to 0° to 45°.

[0034] Animal movement experiment data is the kinematics (joint angle, velocity, acceleration) and dynamics (ground reaction force, muscle activity, etc.) data of animals collected by experimental means (such as high-speed camera, inertial sensor, force platform, etc.) under certain conditions, reflecting the body state and movement performance of animals when performing certain actions (such as walking, standing). Let the target animals (healthy controls, models simulating postoperative states, or real postoperative animals) perform a series of standardized actions, such as straight-line walking, turning, uphill and downhill, single-limb weight-bearing, etc. During the experiment, motion capture data, ground reaction force data, electromyography data, etc. are collected synchronously to obtain animal movement experiment data. Using animal movement experiment data, combined with the constraint range and amplitude of four-limb movement restriction, and the rehabilitation exercise demand, the motion influencing factor analysis is performed to obtain the action constraint characteristics corresponding to the constraint range and amplitude of four-limb movement restriction, and the target balance action characteristics corresponding to the rehabilitation exercise demand. The action constraint characteristics are determined according to the restriction range and amplitude of four-limb movement, and the characteristics of physical or physiological restrictions on four-limb movement, i.e. the restrictions on joint range of motion, gait pattern, weight distribution, etc. of animals in the postoperative recovery stage, such as narrowing of animal movement range, reduction of joint activity angle, etc. The target balance action characteristics are the balance-related action patterns with specific mechanical and kinematic characteristics that animals need to perform in order to achieve rehabilitation goals (such as restoring a specific gait, improving balance ability), which are extracted from rehabilitation exercise demands. For example, in order to strengthen the weight-bearing of the affected limb, the animal may need to learn a more stable standing posture with a more biased center of gravity towards the affected limb, and the joint angle, muscle force pattern, etc. of this posture are the target balance action characteristics.

[0035] The action constraint characteristics and the target balance action characteristics are disassembled to obtain the associated influencing factors and motion thresholds of the action key. The associated influencing factors of the action joint are the interaction and influence between different joints of the four limbs. For example, the activity of the knee joint may affect the movement of the hip joint and the ankle joint, and the restriction of the knee joint will affect the entire gait cycle. By disassembling the action constraint characteristics and the target balance action characteristics, the influence of each joint on the overall movement pattern is further analyzed, and the correlation between joints is established. For example, assuming that the activity angle of the knee joint is limited to 30°, through model calculation, the restriction of the knee joint has a 10% influence on the movement of the hip joint and a 15% influence on the ankle joint.

[0036] The motion threshold refers to the maximum motion intensity that each joint or limb can withstand. By analyzing postoperative recovery data of animals, combined with physiological characteristics and rehabilitation needs of animals, the motion threshold of each joint can be determined. For example, the range of motion of the hip joint can be extended to 45° at most, but in the early postoperative period, it can only withstand a range of motion of 0° to 30°. By disassembling the action constraint features and target balance action features, further obtain the constraint factor and the demand factor. The constraint factor is usually used to describe the strength of the action restriction, and the demand factor is used to describe the target strength expected to be achieved in the rehabilitation process. For example, if the activity angle of the knee joint is limited to 30°, the constraint factor can be set to 0.6, indicating that the motion of the joint is limited; if the postoperative target is to restore the weight bearing of the left hind limb to 40%, the demand factor can be set to 0.7, indicating that the target strength is high.

[0037] According to the constraint factor and the demand factor, a constraint matrix and a demand matrix are established, that is, the constraint factor and the demand factor obtained by disassembling are organized into a matrix form according to certain rules (such as joint / limb, motion dimension, influence type, etc.), which is used to describe the limitation of the postoperative motion ability of the animal and the rehabilitation needs. By establishing standard motion support relationships and postoperative motion abnormal support relationships, individualized rehabilitation programs can be developed according to the specific conditions of each animal. By detailed analysis of motion limitation and rehabilitation needs, combined with analysis of constraint factors and demand factors, the coordination and balance of the four-limb recovery process are ensured.

[0038] The walking aid includes a four-limb adjusting unit, obtains the adjusting parameters of the four-limb adjusting unit, performs grid traversal on the adjusting parameters of the four-limb adjusting unit, and constructs an adjusting parameter set.

[0039] Further, the present application further includes the following steps: obtaining the adjustment angle, the angle adjustment amplitude, and the adjustment height of the four-limb adjusting unit, respectively, constructing an adjustment parameter grid of the four-limb; randomly selecting two limb adjusting units in the four-limb adjusting unit, one as a starting limb and one as a second limb, establishing a linkage constraint relationship between the starting limb and the second limb; based on the linkage constraint relationship, performing grid elimination on the adjustment parameter grid of the second limb, combining the adjustment parameter grid of the initial limb with the adjustment parameter grid of the second limb through grid traversal, and obtaining a first combined parameter grid; obtaining the linkage constraint relationship between the third limb and the starting limb and the second limb, performing grid elimination on the third limb adjustment parameter grid based on the linkage constraint relationship, and combining the first combined parameter grid with the third limb adjustment parameter grid through grid traversal, to obtain a second combined parameter grid; iteratively performing grid traversal combination of the second combined parameter grid and the fourth limb adjustment parameter grid to obtain a final combined parameter grid; and extracting the adjustment parameter combination in the final combined parameter grid to obtain the adjusting parameter set.

[0040] Specifically, in postoperative walking aids for animals, the limb adjustment unit refers to the unit used to adjust the movement and support of the animal's limbs. Each adjustment unit is responsible for adjusting the range of motion, angle, or height of each limb to adapt to the animal's rehabilitation needs. The adjustment angle, angle adjustment range, and adjustment height of the limb adjustment unit are obtained separately. The adjustment angle is the range of angles that the limb adjustment unit can adjust, such as the range of motion of the knee or hip joint; the angle adjustment range is the maximum angle deviation that the limb adjustment unit can adjust, defining the range of motion variation. For example, the range of motion of the knee joint is from 0° to 50°, and the adjustment range is ±5°, meaning the range of motion of the knee joint can vary within a 5° range; the adjustment height is the height of the limbs that the limb adjustment unit can adjust, usually used to adjust the distance between the limbs and the ground when the animal is standing, simulating the raising and lowering of the animal's joints.

[0041] Based on the adjustment angle, angle adjustment range, and adjustment height of the limb adjustment unit, a grid of adjustment parameters for the limbs is constructed. This grid represents a data structure of all possible adjustment parameters of the limb adjustment unit. Each point represents a possible adjustment configuration, such as different combinations of angle, range, and height, describing all positions and postures that the limb adjustment unit can reach in three-dimensional space.

[0042] Two limb control units are randomly selected from the four limb control units, one as the starting limb and the other as the second limb, such as the forelimb and hindlimb, or any two of the left and right limbs. The selection is random, meaning two units can be randomly chosen for coordinated control. A linkage constraint relationship is established between the starting and second limbs to ensure that adjustments to one control unit do not affect the animal's overall balance and stability, but rather work synergistically to restore normal gait. For example, a change in the knee angle of the left forelimb may affect the weight distribution or gait cycle of the right hindlimb. By establishing a linkage constraint relationship, it is ensured that when the angle of the left forelimb is adjusted, the adjustment of the right hindlimb can be synchronized within a reasonable range. If the knee angle of the left forelimb changes significantly, it may cause a shift in the center of gravity, requiring the right hindlimb to adjust its weight distribution accordingly to maintain overall balance. Sensor data is used to monitor the state of each limb (such as angle, weight, and movement status), and then control algorithms are used to adjust the parameters of each limb. For example, if the angle of the left forelimb knee joint is adjusted between 0° and 50°, and the load on the right hindlimb is adjusted between 20% and 40%, then according to physical constraints and gait analysis, when the angle of the left forelimb knee joint is 30°, the load on the right hindlimb should only be 30% to avoid excessive load.

[0043] The linkage constraint relationship between the four limb adjustment units represents how the parameters of other adjustment units are affected when the parameters of one adjustment unit change. The adjustment parameter grid of the second limb is closed by removing according to the linkage constraint relationship. Due to the linkage constraint relationship between the left front limb and the right rear limb, some combinations of angles or heights do not meet the physiological or rehabilitation requirements and must be removed. The adjustment parameter grid of the initial limb (for example, the left front limb) is combined with the adjustment parameter grid of the second limb (for example, the right rear limb) by grid traversal combination. For example, the respective adjustment parameters of the left front limb and the right rear limb are combined to obtain a first combined parameter grid. The first combined parameter grid is a new adjustment parameter grid obtained by grid traversal combination, which contains all possible positions and postures of the initial limb and the second limb under the linkage constraint relationship.

[0044] The third limb refers to another limb that is added to the adjustment process after the initial limb and the second limb. Similarly, the linkage constraint relationship between the third limb and the initial limb and the second limb is obtained. For example, there may be coordination requirements such as motion range and weight distribution between the first limb and the second limb, and the adjustment of the third limb also needs to maintain a certain coordination with the first two limbs. The linkage constraint relationship between the third limb (for example, the left rear limb) and the initial limb (for example, the left front limb) and the second limb (for example, the right rear limb) is analyzed. The adjustment of each limb can affect the weight distribution, angle, or gait pattern of other limbs, so the set parameters of the initial limb and the second limb must be considered when adjusting the third limb.

[0045] The third limb adjustment parameter grid is closed by removing based on the linkage constraint relationship. Parameter combinations that violate physiological constraints (such as excessive weight, excessive or insufficient angle, etc.) need to be closed. For example, if the adjustment parameter grid of the third limb represents the knee angle range of the left rear limb as 0° to 50°, but due to the maximum weight distribution of the initial limb (left front limb) and the second limb (right rear limb), the angle adjustment of the third limb beyond a certain threshold value may cause the entire balance to collapse, so these grid points need to be removed. The first combined parameter grid (obtained by combining the adjustment grids of the initial limb and the second limb) is combined with the adjustment parameter grid of the third limb by grid traversal combination to obtain a combined grid of multiple parameter configurations, reflecting the joint adjustment effect of the three adjustment units. The second combined parameter grid is a new adjustment parameter grid obtained by grid traversal combination, which contains all possible positions and postures of the initial limb, the second limb, and the third limb under the linkage constraint relationship.

[0046] The fourth limb is obtained, and the foregoing process is repeated to obtain the linkage constraint relationship of the fourth limb and the first limb, the second limb, and the third limb. The fourth limb parameter grid is removed, and the second combined parameter grid is combined with the fourth limb adjustment parameter grid to perform grid traversal combination to obtain a final combined parameter grid, which contains all possible positions and postures of the initial limb, the second limb, the third limb, and the fourth limb under the linkage constraint relationship. The adjustment parameter combination is extracted from the final combined parameter grid to control the four-limb adjustment unit. For example, the optimal adjustment parameter combination in the final combined parameter grid is that the left front limb knee joint is 30°, the right rear limb weight is 35%, the left rear limb angle is 25°, and the right front limb height is 35 cm. The four limbs are adjusted according to these parameters to ensure the gait balance of the animal and meet the rehabilitation needs. The adjustment parameter set is a set of most suitable adjustment parameters extracted from the combined parameter grid for adjusting the four limbs.

[0047] By constructing the adjustment parameter grid and performing traversal combination, the movement range, angle, and weight distribution of the four limbs can be accurately controlled. Through the establishment of the linkage constraint relationship and the coordinated adjustment among the multiple limbs, it is ensured that the movement of each limb is performed in a coordinated manner, and unbalanced burden or unnatural gait is avoided. Through continuous iteration and elimination of unsuitable parameter combinations, the most suitable adjustment scheme is finally obtained, and the adaptability of the postoperative walking aid for animals is improved.

[0048] The adjustment parameter set is sequentially mapped to the constraint matrix and the demand matrix, the out-of-range parameters are obtained through matrix checking, the out-of-range parameters are trimmed from the adjustment parameter set, and a feasible adjustment parameter set is obtained.

[0049] Further, the application further includes the following steps: setting a rehabilitation period, including at least an initial acute phase, a medium subacute phase, and a late functional phase; setting a width threshold of the parsed adjustment parameters according to the operation content to determine the grid density of each rehabilitation period; and performing preliminary screening in the adjustment parameter set based on the grid density to obtain a preliminary screening matched adjustment parameter set.

[0050] Specifically, the rehabilitation period is set, that is, the process of the animal from the operation to the complete recovery after the operation, which is usually divided into multiple stages, each stage having different rehabilitation goals and treatment methods. The rehabilitation period includes an initial acute phase, a medium subacute phase, a late functional phase, and the like. The initial acute phase is the initial stage after the operation, that is, the stage immediately after the operation. This stage mainly deals with postoperative swelling, pain, and initial functional recovery. The medium subacute phase is a stage in which the animal gradually recovers the activity ability but still has certain movement limitations, which occurs in the days to weeks after the operation. The late functional phase is the last stage of rehabilitation, in which the animal can perform more movements and recover the normal gait and weight-bearing ability, which usually occurs after several weeks after the operation.

[0051] Each rehabilitation period has different adjustment requirements, so in each period, the adjustment range of the limbs (such as angle, weight, movement amplitude, etc.) will have different restrictions, and the width threshold of the adjustment parameter represents the parameter adjustment range of each adjustment unit. For example, in the initial acute phase, the range of limb movement is small, and in the later functional phase, a larger range of movement is allowed. The grid density refers to the number or fineness of the adjustment parameter combination within the adjustment parameter range. The higher the density, the more combinations within each adjustment parameter range, and the more precise the adjustment process. Since the joint movement and weight of the animal in the initial acute phase are greatly restricted, the adjustment range of the limbs is small, and the adjustment amplitude also needs to be controlled more precisely, so a high-density grid is set, that is, a large number of discrete values are set within the adjustment range to ensure detailed adjustment and recovery. In the middle sub-acute phase, the animal gradually recovers the range of movement, and the adjustment range is appropriately increased, and a medium-density grid is set so that the parameters change within a wider range to achieve moderate recovery. In the later functional phase, the rehabilitation goal of the animal is to restore the gait and movement ability close to normal, so a larger adjustment range can be accepted, and a low-density grid is set to appropriately reduce the fineness of adjustment. For example, the rehabilitation stage is the initial acute phase (1-7 days), the corresponding grid density is high density, and the clinical goal is to prevent micro-motion damage (±3°); the rehabilitation stage is the middle sub-acute phase (7-28 days), the corresponding grid density is medium density, and the clinical goal is to promote joint movement (±5°); the rehabilitation stage is the later functional phase (more than 28 days), the corresponding grid density is low density, and the clinical goal is gait reconstruction, joint angle ±5°, and gait symmetry ±10%.

[0052] According to the set grid density and width threshold, the adjustment parameters that meet the current rehabilitation period requirements are selected from the adjustment parameter set. Through preliminary screening, parameters that do not meet the current rehabilitation goal are removed, and a preliminary screened adjustment parameter set that meets the constraints and requirements is obtained. Through adjustment of the grid density, the adjustment parameter set that meets the requirements of each rehabilitation stage is preliminarily screened. According to the characteristics of each rehabilitation period, by setting different grid densities and adjustment ranges, fine adjustment parameters can be provided for each stage to avoid over-recovery or inappropriate load.

[0053] Further, the application further comprises the following steps: writing the constraint matrix and the demand matrix into the verification firmware as a check matrix; mapping the preliminary screened adjustment parameter set to the check matrix of the verification firmware in sequence to obtain out-of-range parameters; and removing the out-of-range parameters from the adjustment parameter set according to the out-of-range parameters to obtain the feasible adjustment parameter set.

[0054] Specifically, the constraint matrix and the demand matrix are used as the check matrix to determine whether the adjustment parameter set meets the physiological constraints and rehabilitation goals. The check matrix verifies the adjustment parameters to check whether they meet the recovery goals and physical limitations. The verification firmware is a program or logic embedded in the control unit of the postoperative walking aid for animals, which checks and verifies the input adjustment parameters in real time or offline according to the check matrix, to ensure that these parameters do not exceed the safety range or deviate from the rehabilitation goals. The check matrix represents the movement boundary allowed by the animal in the current rehabilitation stage and consistent with the rehabilitation goals. The verification firmware checks each item of the input adjustment parameter set using the check matrix to ensure that the parameter set is within a reasonable range. For example, if an element in the constraint matrix represents that the maximum activity angle of the left hind limb knee joint is 30°, and the demand matrix represents that the target activity angle of the left hind limb knee joint is 35°. The check matrix checks whether the activity angle of the left hind limb knee joint meets the requirements, i.e., whether the actual angle does not exceed 30° and meets the rehabilitation goal of 35°.

[0055] The preliminary screening matched adjustment parameter set is mapped to the check matrix of the verification firmware, and the actual value of each adjustment parameter is compared with the limit condition in the check matrix. Any adjustment parameter that exceeds the limit is marked as an out-of-limit parameter. For example, the left hind limb knee joint angle in the preliminary screening matched adjustment parameter set is 40°, and the constraint in the check matrix is a maximum of 30°, so 40° is an out-of-limit parameter. When the check matrix detects out-of-limit parameters in the adjustment parameter set, these out-of-limit parameters need to be removed. The purpose of out-of-limit removal is to delete adjustment combinations that do not meet the rehabilitation requirements and physiological limitations, to ensure that the subsequent adjustment scheme only contains reasonable and feasible parameter combinations.

[0056] From the preliminary screening matched adjustment parameter set, all parameter combinations containing out-of-limit parameters are removed to obtain a feasible adjustment parameter set that meets all physical limitations and rehabilitation goals and can be used to perform quadruped adjustment to ensure the balance and safety of the animal during gait recovery. Through the introduction of the check matrix, it is ensured that the adjustment parameter set always meets the physiological limitations and rehabilitation requirements during the entire recovery process, and all parameters are thoroughly verified before adjustment to avoid adverse effects caused by inappropriate parameters. Through out-of-limit removal, adjustment parameters that may cause maladaptation or excessive load are removed, thereby improving the safety during rehabilitation and preventing injury caused by excessive load or excessive activity.

[0057] According to the feasible adjustment parameter set, a quadruped coordination and balance evaluation is performed, adjustment parameters are selected according to the balance evaluation, target quadruped adjustment parameters are obtained, and the target quadruped adjustment parameters are sent to the quadruped adjustment unit according to the quadruped positioning for quadruped adjustment.

[0058] Further, the application further comprises the following steps: establishing a double closed loop balance mechanism, which comprises an inner loop for balancing local safety and an outer loop for balancing overall stability; using the double closed loop balance mechanism to evaluate the inner loop and outer loop balance of the set of adjustable parameters, and obtaining a balance evaluation value; and performing adjustment parameter screening according to the balance evaluation value, and obtaining the target four-limb adjustment parameters.

[0059] Further, the application further comprises the following steps: using the limit threshold of each limb and joint as the inner loop sub-gate of each adjustment unit, and using the balance dependency relationship between the joints of the four limbs as the inner loop parent gate; using the inner loop sub-gate and the inner loop parent gate to construct an inner loop balance mechanism; determining the outer loop gate according to the balance dependency relationship of the four-limb adjustment units and the relative influence position of the animal's center of gravity, wherein the outer loop gate comprises an outer loop balance constraint parameter, and an outer loop balance mechanism is constructed; and merging the inner loop balance mechanism and the outer loop balance mechanism to establish the double closed loop balance mechanism.

[0060] Specifically, the limit threshold of each limb and joint, i.e., the maximum range or angle within which each limb and joint can safely move, is obtained. During rehabilitation, the movement of the limbs and joints must be kept within this limit threshold, and exceeding the limit threshold will cause excessive load or injury to the joints. The limit threshold of each limb and joint is used as the inner loop sub-gate of each adjustment unit, and the gate can be understood as a control logic or a judgment condition. The inner loop sub-gate is to materialize the limit threshold of each limb and joint into a control logic, which is used to monitor and limit the movement or load of a single adjustment unit in real time, prevent it from exceeding the safe range, and belongs to the inner layer. The inner loop sub-gate controls the movement range of each limb or joint to ensure that it does not exceed the limit threshold and maintains the safety of the movement of each limb.

[0061] According to the balance dependency relationship between the four limbs, i.e., the mutual influence between the movement of each joint and other joints, the inner loop parent gate is established. The parent gate is generally a higher-level control mechanism that coordinates the movement of each limb and joint to ensure the balance of the overall movement. The inner loop parent gate refers to adjusting and limiting the coordination and movement range of each limb and joint according to the dependency relationship between the joints of the four limbs. For example, the knee joint angle of the left front limb is 30°, and the weight distribution of the right rear limb is set to 30%. The inner loop sub-gate will ensure that the knee joint angle of the left front limb does not exceed 30°, and the inner loop parent gate will ensure that the weight distribution of the right rear limb does not exceed the safe range.

[0062] By linking the inner loop sub-gate and the inner loop parent gate, an inner loop balance mechanism is constructed. When adjusting the parameters of one limb each time, the inner loop parent gate will coordinate the movement of other limbs according to the balance dependency relationship to ensure the balance of the overall movement. The main function of the inner loop balance mechanism is to ensure that each adjustment unit does not exceed the limit (sub-gate), and the movement between the units is coordinated and meets the basic balance requirements (parent gate).

[0063] According to the balance dependency relationship of the limb adjustment unit and the relative influence position of the animal's center of gravity, a more macro adjustment control, namely the outer ring gate, is set. The outer ring control mechanism usually affects the movement of the whole body, ensuring that the overall body does not tip over and maintaining the balance of the body. The balance dependency relationship of the limb adjustment unit is the role and relationship of the four limbs as a whole in maintaining the balance of the animal's body, such as the forelimbs mainly bearing the push and part of the weight, the hindlimbs mainly bearing the main weight and propulsion, and the four limbs working together to stabilize the center of gravity. The relative influence position of the animal's center of gravity is the positional relationship of the animal's center of gravity relative to the four adjustment units (simulating the position of the four limbs). A small movement of the center of gravity will significantly affect the force on each limb through the principle of leverage. The outer ring gate includes outer ring balance constraint parameters, namely the parameters set in the outer ring gate, which are used to limit and constrain the adjustment range of the four limb adjustment units, ensuring that they do not cause inappropriate weight bearing or center of gravity shift, and ensuring that the animal maintains balance during the rehabilitation process. Based on the balance dependency relationship of the limb adjustment unit and the influence position of the animal's center of gravity, the outer ring gate is designed. The outer ring gate is responsible for ensuring the balance of the overall body and adjusting the coordination between the limbs to avoid imbalance caused by local adjustment.

[0064] The outer ring balance constraint parameters are used to limit and control the adjustment range of the outer ring gate, ensuring that the adjustment of the four limbs does not cause unstable center of gravity shift or excessive adjustment. For example, when the adjustment of the four limbs causes the center of gravity to shift, the outer ring balance constraint parameters can adjust the weight or angle of the other limbs to maintain body stability. According to the outer ring gate and the outer ring balance constraint parameters, the outer ring balance mechanism is constructed, which adjusts the activity range, weight distribution, and other parameters of the four limb adjustment units to ensure that the balance and stability of the overall body are guaranteed during each adjustment. The outer ring balance mechanism ensures that the overall center of gravity remains within the ideal range when adjusting the local limbs, avoiding imbalance caused by improper adjustment.

[0065] By combining the inner ring balance mechanism and the outer ring balance mechanism, a double closed loop balance mechanism is formed, with the inner ring mechanism controlling the local coordination of the four limb adjustment units and the outer ring mechanism ensuring the balance of the overall body. The double closed loop mechanism ensures that each limb adjustment is reasonable and the overall body is stable during the recovery process through interaction. Through the combination of the inner ring and outer ring balance mechanisms, a double closed loop balance mechanism is formed, ensuring the balance of the four limb adjustment and the overall body during the postoperative recovery process, and improving the coordination of the animal's gait recovery.

[0066] The inner loop of the double closed-loop balancing mechanism is used to balance the local safety and control the coordination between the four limbs, ensuring that the adjustment of each limb does not cause improper weight bearing or excessive movement, avoiding the adverse effects of individual limb adjustment on the overall gait. The outer loop of the double closed-loop balancing mechanism is used to control the overall body balance and ensure that the adjustment of each limb does not cause the animal's center of gravity to shift, avoiding the overall imbalance or tilting of the animal caused by local adjustment.

[0067] The double closed-loop balancing mechanism is used to evaluate the inner loop and outer loop balance of the feasible adjustment parameter set. The inner loop monitors the adjustment parameters of each limb to determine whether each limb adjustment is within the safe range and whether it will affect the movement of other joints. The inner loop balance evaluation value is usually based on the rationality and coordination of local adjustment. The outer loop evaluates the impact of the adjustment parameter set on the overall body, especially the change in the center of gravity. The outer loop balance evaluation ensures that the entire body does not tilt or lose stability during the adjustment process. For example, assume that the feasible adjustment parameter set has the following preliminary adjustment parameters: left front limb knee joint angle: 30°, maximum allowed angle: 35°; right rear limb weight bearing: 35%, maximum allowed weight bearing: 40%; left rear limb knee joint angle: 40°, maximum allowed angle: 50°; right front limb knee joint angle: 30°, maximum allowed angle: 45°. Each limb adjustment is within the safe range, so the inner loop balance evaluation value is 4. Through calculation, it is found that the center of gravity shifts by 4 cm (this value indicates that the center of gravity deviates from the original position), and it is assumed that the center of gravity shift value exceeds 3 cm, the outer loop evaluation value is 0.6; if the center of gravity shift is less than 3 cm, the outer loop evaluation value is 1. Since the center of gravity shift is 4 cm, the outer loop evaluation value is 0.6. Combining the inner loop and outer loop evaluations, the inner loop evaluation is given a weight of 80% and the outer loop evaluation is given a weight of 20%, the comprehensive balance evaluation value is calculated to be 3.32, indicating that the current adjustment parameter set performs well in terms of local safety and overall balance, but there is still room for optimization, especially in terms of center of gravity shift.

[0068] The balance evaluation value is a quantitative value calculated through the inner loop and outer loop balance evaluation, reflecting the pros and cons of the current adjustment parameter set in terms of local safety and overall balance. The higher the balance evaluation value, the more suitable the adjustment parameters are for the rehabilitation goal, and the better the animal's balance and stability during the adjustment process. Based on the balance evaluation value, the best adjustment parameter set is selected from the feasible adjustment parameter set to ensure that the animal can obtain the most suitable support during the recovery process, i.e. the target limb adjustment parameters. The limb adjustment parameters represent the adjustment scheme that can provide the best support and ensure local safety and overall balance during the rehabilitation process. Through the inner loop and outer loop balance evaluation of the double closed-loop balancing mechanism, precise and personalized limb adjustment schemes can be provided for animals, ensuring both the safety of local adjustment and the balance of the whole body.

[0069] Further, the application also includes the following steps: collecting animal limb kinematics data and weight distribution in walking assistance by a flexible pressure sensing network; using the limb kinematics data and weight distribution to perform matrix mapping matching with the constraint matrix and demand matrix, to obtain difference data; and performing adaptive balance adjustment compensation according to the difference data, and resetting the four-limb adjustment parameters.

[0070] Specifically, the target four-limb adjustment parameter set is transmitted to a specific four-limb adjustment unit, and each adjustment unit performs adjustment according to the specific needs and position of the animal. For example, the left front limb knee joint angle is 30°, and the right rear limb weight is 35%. These adjustment parameters are transmitted to the adjustment units of the left front limb and the right rear limb, to ensure that they adjust according to the specified angle and weight.

[0071] The flexible pressure sensing network is a sensing network arranged on the limbs of the animal, which can collect the kinematics data (such as joint angle, gait, etc.) and weight distribution data of the limbs of the animal during walking in real time. It is usually composed of multiple sensors and can accurately record the force condition of each limb. The flexible pressure sensing network is used to monitor the kinematics data (such as knee joint angle, gait, etc.) and weight distribution (carrying weight of each limb) of each limb of the animal during walking in real time, which is used to evaluate whether the current four-limb adjustment meets the expectation. For example, through real-time data collection by the flexible sensing network, it is measured that the left front limb knee joint angle is 28°, the right rear limb weight is 34%, and the left rear limb weight distribution is 36%, reflecting the current motion state of the animal. The limb kinematics data refers to the limb motion characteristics of the animal during motion, such as joint angle, gait, etc. The weight distribution refers to the load condition of each limb of the animal during walking. Both of them determine the stability and balance of the animal during walking.

[0072] The limb kinematics data and weight distribution are matched with the constraint matrix and demand matrix set in advance to determine whether the current adjustment meets the physical limit and rehabilitation goal. The matrix mapping matching process is to compare the actual data of the limbs with the preset values in these matrices and calculate the difference. For example, if the target angle of the left front limb knee joint is 30° (demand matrix), and the current angle is 28° (collected kinematics data), there is a difference of 2°; the weight target of the right rear limb is 35% (demand matrix), and the actual weight is 34% (collected weight data), there is a difference of 1%. Through matrix mapping matching, the difference data is calculated, which represents the deviation between the current adjustment and the expected target, including the difference of joint angle, the difference of weight distribution, etc.

[0073] According to the calculated difference data, adaptive balance adjustment compensation is performed, and the four-limb adjustment parameters are automatically adjusted according to the deviation to ensure the balance of gait recovery. The adaptive balance adjustment compensation is a process of dynamically adjusting the adjustment parameters according to the difference data, automatically correcting the unbalanced or uncoordinated adjustment parameters, and ensuring that the gait of the animal always meets the rehabilitation target. Through the adaptive balance adjustment compensation, the parameters of the four-limb adjustment unit are updated to ensure that the subsequent adjustment can meet the rehabilitation needs and overall balance of the animal. Through real-time data collected by the flexible pressure sensing net and difference compensation adjustment, the kinematics data and weight distribution of the four limbs can be dynamically adjusted to ensure that the animal maintains a stable gait during the rehabilitation process.

[0074] In summary, the adaptive balance adjustment method for the postoperative walking aid for animals provided by the present application has the following beneficial effects:

[0075] By analyzing the postoperative four-limb movement restriction and rehabilitation movement demand of the animal according to the preoperative state and surgical content of the animal, a constraint matrix and a demand matrix are established. The adjustment parameters of the four-limb adjustment unit are obtained, the adjustment parameters of the four-limb adjustment unit are grid traversed, and an adjustment parameter set is constructed. The adjustment parameter set is mapped into the constraint matrix and the demand matrix in sequence, the out-of-range parameters are obtained through matrix checking, the out-of-range parameters are trimmed from the adjustment parameter set, and a feasible adjustment parameter set is obtained. The four-limb coordination balance is evaluated according to the feasible adjustment parameter set, the adjustment parameters are screened according to the balance evaluation, the target four-limb adjustment parameters are obtained, and the target four-limb adjustment parameters are sent to the four-limb adjustment unit according to the four-limb positioning for four-limb adjustment. That is, according to the preoperative state and surgical content of the animal, the postoperative four-limb movement restriction and rehabilitation demand are analyzed, the personalized constraint matrix and demand matrix are established, the adjustment parameters of the four-limb adjustment unit are grid traversed, the adjustment parameter set is constructed, the out-of-range parameters that do not meet the rehabilitation demand are eliminated, the adjustment parameters are dynamically adjusted according to the recovery progress of each stage after the operation, and appropriate parameters are ensured for the recovery demand of each stage. The adaptability of the postoperative walking aid is improved.

[0076] Embodiment two, based on the same inventive concept as the adaptive balance adjustment method for the postoperative walking aid for animals in the aforementioned embodiment one, the present application also provides an adaptive balance adjustment system for a postoperative walking aid for animals, please refer to the attached Figure 2 The adaptive balance adjustment system for the postoperative walking aid for animals comprises:

[0077] The demand analysis module 11 is used to analyze the postoperative limb movement restriction constraints and rehabilitation movement demands of the animal according to the preoperative state of the animal and the operation content, and establish a constraint matrix and a demand matrix; the adjustment parameter traversal module 12 is used to obtain the adjustment parameters of the limb adjustment unit, perform grid traversal on the adjustment parameters of the limb adjustment unit, and construct an adjustment parameter set; the parameter mapping and clipping module 13 is used to map the adjustment parameter set into the constraint matrix and the demand matrix in sequence, obtain out-of-range parameters through matrix checking, clip the out-of-range parameters from the adjustment parameter set, and obtain a feasible adjustment parameter set; the limb coordination and balance evaluation module 14 is used to perform limb coordination and balance evaluation according to the feasible adjustment parameter set, perform adjustment parameter screening according to the balance evaluation, obtain target limb adjustment parameters, and send the target limb adjustment parameters to the limb adjustment unit according to the limb positioning for limb adjustment.

[0078] Further, the demand analysis module 11 in the adaptive balance adjustment system for the postoperative walking aid for animals is also used to: establish a standard animal limb movement support relationship; change the positioning state of the standard animal limb movement support relationship according to the preoperative state of the animal and the operation content, and obtain a postoperative limb movement abnormal support relationship; analyze the limb movement restriction constraint range and the constraint amplitude according to the postoperative limb movement abnormal support relationship; take the standard animal limb movement support relationship as a reference, analyze the rehabilitation movement support target according to the postoperative limb movement abnormal support relationship, and obtain the rehabilitation movement demand; decompose the movement correlation influence factors of the limb movement restriction constraint range and the constraint amplitude and the rehabilitation movement demand respectively, obtain constraint factors and demand factors, and construct the constraint matrix and the demand matrix.

[0079] Further, the demand analysis module 11 in the adaptive balance adjustment system for the postoperative walking aid for animals is also used to: utilize animal movement experiment data, perform movement influence factor decomposition according to the limb movement restriction constraint range and the constraint amplitude and the rehabilitation movement demand, and respectively obtain action constraint characteristics corresponding to the limb movement restriction constraint range and the constraint amplitude and target balance action characteristics corresponding to the rehabilitation movement demand; obtain the correlation influence factors and the movement threshold values of the action joints according to the action constraint characteristics and the target balance action characteristics, and obtain the constraint factors and the demand factors.

[0080] Further, the adjustment parameter traversal module 12 in the adaptive balance adjustment system for the postoperative walking aid for animals is further configured to: obtain the adjustment angle, the angle adjustment range, and the adjustment height of each limb adjustment unit, and construct an adjustment parameter grid of the limbs; randomly select two limb adjustment units from the limb adjustment units, one as a starting limb and the other as a second limb, and establish a linkage constraint relationship between the starting limb and the second limb; based on the linkage constraint relationship, perform grid elimination on the adjustment parameter grid of the second limb, combine the adjustment parameter grid of the starting limb with the adjustment parameter grid of the second limb, and obtain a first combined parameter grid; obtain the linkage constraint relationship between a third limb and the starting limb and the second limb, perform grid elimination on the adjustment parameter grid of the third limb based on the linkage constraint relationship, and combine the first combined parameter grid with the adjustment parameter grid of the third limb to obtain a second combined parameter grid; iteratively perform grid traversal combination of the second combined parameter grid and the adjustment parameter grid of a fourth limb to obtain a final combined parameter grid; and extract the adjustment parameter combination from the final combined parameter grid to obtain the adjustment parameter set.

[0081] Further, the parameter mapping and clipping module 13 in the adaptive balance adjustment system for the postoperative walking aid for animals is further configured to: set a rehabilitation period, which includes at least an initial acute phase, a middle sub-acute phase, and a late functional phase; set a width threshold of the parsed adjustment parameter according to the surgical content, and determine the grid density of each rehabilitation period; based on the grid density, perform preliminary screening on the adjustment parameter set to obtain a preliminary screening matched adjustment parameter set.

[0082] Further, the parameter mapping and clipping module 13 in the adaptive balance adjustment system for the postoperative walking aid for animals is further configured to: write the constraint matrix and the demand matrix into a verification firmware as a verification matrix; map the preliminary screening matched adjustment parameter set to the verification matrix of the verification firmware in sequence to obtain an out-of-range parameter; and perform out-of-range elimination on the adjustment parameter set according to the out-of-range parameter to obtain a feasible adjustment parameter set.

[0083] Further, the four-limb coordination and balance evaluation module 14 in the adaptive balance adjustment system for the postoperative walking aid for animals is further configured to: establish a double closed loop balance mechanism, which includes an inner loop for balancing local safety and an outer loop for balancing overall stability; use the double closed loop balance mechanism to perform inner loop and outer loop balance evaluation on the feasible adjustment parameter set to obtain a balance evaluation value; and perform adjustment parameter screening according to the balance evaluation value to obtain the target four-limb adjustment parameter.

[0084] Further, the four-limb coordination balance evaluation module 14 in the adaptive balance adjustment system for the postoperative walking aid for animals is further used for: taking the position threshold of each limb and joint as the inner ring sub-gate of each adjustment unit, and taking the balance dependency relationship between the joints of the four limbs as the inner ring parent gate; constructing an inner ring balance mechanism by using the inner ring sub-gate and the inner ring parent gate; determining an outer ring gate according to the balance dependency relationship of the four-limb adjustment unit and the relative influence position of the animal's center of gravity, wherein the outer ring gate includes an outer ring balance constraint parameter, and constructing an outer ring balance mechanism; and merging the inner ring balance mechanism and the outer ring balance mechanism to establish the double-closed-loop balance mechanism.

[0085] Further, the four-limb coordination balance evaluation module 14 in the adaptive balance adjustment system for the postoperative walking aid for animals is further used for: collecting the animal's limb kinematics data and weight distribution in the walking aid by using the flexible pressure sensing net; performing matrix mapping matching on the limb kinematics data and weight distribution, the constraint matrix, and the demand matrix to obtain difference data; and performing adaptive balance adjustment compensation according to the difference data, and resetting the four-limb adjustment parameters.

[0086] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The foregoing Figure 1 The adaptive balance adjustment method for the postoperative walking aid for animals in Embodiment One and the specific examples are also applicable to the adaptive balance adjustment system for the postoperative walking aid for animals in the present embodiment. Based on the foregoing detailed description of the adaptive balance adjustment method for the postoperative walking aid for animals, those skilled in the art can clearly understand the adaptive balance adjustment system for the postoperative walking aid for animals in the present embodiment. Therefore, for the sake of brevity of the specification, no further detailed description is given here.

[0087] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0088] Obviously, for those skilled in the art, without departing from the principles of the present application, the present application can be improved and modified in several ways, and these improvements and modifications also fall within the protection scope of the present application.

Claims

1. An adaptive balance adjustment method for a post-operative walking aid for animals, characterized in that, The adaptive balance adjustment method for the postoperative walking aid for animals is applied to a walking aid, and the walking aid comprises a four-limb adjustment unit, which comprises: According to the preoperative state and the operation content of the animal, the postoperative four-limb movement restriction constraint and the rehabilitation movement demand of the animal are analyzed, and a constraint matrix and a demand matrix are established; Obtaining the adjustment parameters of the four-limb adjustment unit, performing grid traversal on the adjustment parameters of the four-limb adjustment unit, and constructing an adjustment parameter set; Mapping the adjustment parameter set into the constraint matrix and the demand matrix in sequence, obtaining out-of-range parameters through matrix checking, and clipping the out-of-range parameters from the adjustment parameter set to obtain a feasible adjustment parameter set; According to the feasible adjustment parameter set, the four-limb coordination balance is evaluated, the adjustment parameters are screened according to the balance evaluation, the target four-limb adjustment parameters are obtained, and the target four-limb adjustment parameters are sent to the four-limb adjustment unit according to the four-limb positioning to adjust the four limbs; According to the feasible adjustment parameter set, the four-limb coordination balance is evaluated, the adjustment parameters are screened according to the balance evaluation, the target four-limb adjustment parameters are obtained, and the target four-limb adjustment parameters are sent to the four-limb adjustment unit according to the four-limb positioning to adjust the four limbs; A double closed-loop balance mechanism is established, which includes an inner ring for balancing local safety and an outer ring for balancing the whole machine without overturning; Using the double closed-loop balance mechanism, the inner ring and the outer ring balance evaluation is performed on the feasible adjustment parameter set to obtain a balance evaluation value; According to the balance evaluation value, the adjustment parameters are screened to obtain the target four-limb adjustment parameters; The double closed-loop balance mechanism comprises: The limiting threshold of each limb and joint is used as the inner ring sub-gate of each adjustment unit, and the balance dependency relationship between the four limbs and joints is used as the inner ring parent gate; Using the inner ring sub-gate and the inner ring parent gate, an inner ring balance mechanism is constructed; According to the balance dependency relationship of the four-limb adjustment unit and the relative influence position of the animal's center of gravity, an outer ring gate is determined, wherein the outer ring gate comprises an outer ring balance constraint parameter, and an outer ring balance mechanism is constructed; The inner ring balance mechanism and the outer ring balance mechanism are combined to establish the double closed-loop balance mechanism; The target four-limb adjustment parameters are sent to the four-limb adjustment unit according to the four-limb positioning to adjust the four limbs, and then the method further comprises: Collecting the animal's limb kinematics data and weight distribution in the walking aid through a flexible pressure sensing network; Using the limb kinematics data and weight distribution and the constraint matrix and demand matrix, matrix mapping matching is performed to obtain difference data; According to the difference data, adaptive balance adjustment compensation is performed, and the four-limb adjustment parameters are reset.

2. The adaptive balance adjustment method for a postoperative walking aid for animals according to claim 1, characterized in that, According to the preoperative state and the operation content of the animal, the postoperative four-limb movement restriction constraint and the rehabilitation movement demand of the animal are analyzed, and a constraint matrix and a demand matrix are established, comprising: Establishing an animal four-limb standard movement support relationship; According to the preoperative state and the operation content of the animal, the postoperative four-limb movement restriction constraint and the rehabilitation movement demand of the animal are analyzed, and a constraint matrix and a demand matrix are established, comprising: Establishing an animal four-limb standard movement support relationship; According to the postoperative four-limb movement abnormal support relationship, the four-limb movement restriction constraint range and the constraint amplitude are analyzed; Taking the animal four-limb standard movement support relationship as a reference, the rehabilitation movement support target is analyzed according to the postoperative four-limb movement abnormal support relationship to obtain the rehabilitation movement demand; Respectively, the four limbs movement restriction constraint range and constraint amplitude, rehabilitation exercise demand are decomposed by motion correlation influence factor, and constraint factor and demand factor are obtained, and the constraint matrix and demand matrix are constructed.

3. The adaptive balance adjustment method for a postoperative walking aid for animals according to claim 2, characterized in that, Respectively, the four limbs movement restriction constraint range and constraint amplitude, rehabilitation exercise demand are decomposed by motion correlation influence factor, and constraint factor and demand factor are obtained, and the constraint matrix and demand matrix are constructed. According to the four limbs movement restriction constraint range and constraint amplitude, rehabilitation exercise demand, animal motion experiment data are utilized to decompose motion influence factor, and action constraint characteristics corresponding to the four limbs movement restriction constraint range and constraint amplitude and target balance action characteristics corresponding to the rehabilitation exercise demand are respectively obtained; According to the action constraint characteristics and target balance action characteristics, correlation influence factor and motion threshold value of action joint are obtained, and the constraint factor and demand factor are obtained.

4. The adaptive balance adjustment method for a post-operative walking aid for animals according to claim 1, wherein, Adjustment parameters of the four limbs adjustment unit are obtained, and the adjustment parameters of the four limbs adjustment unit are grid traversed to construct an adjustment parameter set, including: Adjustment angle, angle adjustment amplitude and adjustment height of the four limbs adjustment unit are respectively obtained to construct an adjustment parameter grid of the four limbs; Two limb adjustment units in the four limbs adjustment unit are randomly selected, one as a starting limb and the other as a second limb, and a linkage constraint relationship between the starting limb and the second limb is established; Based on the linkage constraint relationship, the adjustment parameter grid of the second limb is closed, and the adjustment parameter grid of the initial limb is combined with the adjustment parameter grid of the second limb by grid traversal to obtain a first combined parameter grid; The linkage constraint relationship between a third limb and the starting limb and the second limb is obtained, the adjustment parameter grid of the third limb is closed based on the linkage constraint relationship, and the first combined parameter grid is combined with the adjustment parameter grid of the third limb by grid traversal to obtain a second combined parameter grid; The second combined parameter grid is iteratively combined with the adjustment parameter grid of a fourth limb by grid traversal to obtain a final combined parameter grid; Adjustment parameter combinations in the final combined parameter grid are extracted to obtain the adjustment parameter set.

5. The adaptive balance adjustment method for a post-operative walking aid for animals according to claim 1, wherein, The adjustment parameter set is sequentially mapped into the constraint matrix and the demand matrix, and an out-of-range parameter is obtained by matrix checking, including: A rehabilitation period is set, including at least an initial acute phase, a subacute phase and a functional phase; A width threshold value of the parsed adjustment parameter is set according to the surgical content to determine the grid density of each rehabilitation period; Based on the grid density, the adjustment parameter set is preliminarily screened in the adjustment parameter set to obtain a preliminarily screened adjustment parameter set.

6. The adaptive balance adjustment method for a post-operative walking aid for animals according to claim 5, wherein, The feasible adjustment parameter set is obtained, including: The constraint matrix and the demand matrix are written into a verification firmware as a verification matrix; The preliminarily screened adjustment parameter set is sequentially mapped into the verification matrix of the verification firmware to obtain an out-of-range parameter; According to the out-of-range parameter, the adjustment parameter set is excluded out of range to obtain the feasible adjustment parameter set.

7. An adaptive balance adjustment system for a post-operative walking aid for animals, characterized by, A self-adaptive balance adjustment system for an animal postoperative walking aid is used to implement the steps of the self-adaptive balance adjustment method for the animal postoperative walking aid in any one of claims 1 to 6, including: The demand analysis module is configured to analyze postoperative four-limb movement restriction constraints and rehabilitation movement demands of the animal according to preoperative state of the animal and operation content, and establish a constraint matrix and a demand matrix; The adjustment parameter traversal module is configured to obtain adjustment parameters of the four-limb adjustment unit, perform grid traversal on the adjustment parameters of the four-limb adjustment unit, and construct an adjustment parameter set; The parameter mapping and clipping module is configured to sequentially map the adjustment parameter set to the constraint matrix and the demand matrix, obtain out-of-range parameters through matrix checking, clip the out-of-range parameters from the adjustment parameter set, and obtain a feasible adjustment parameter set; The four-limb coordination and balance evaluation module is configured to perform four-limb coordination and balance evaluation according to the feasible adjustment parameter set, perform adjustment parameter screening according to the balance evaluation, obtain target four-limb adjustment parameters, and send the target four-limb adjustment parameters to the four-limb adjustment unit according to four-limb positioning for four-limb adjustment.

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