A cervical health monitoring method and system

Abstract

The application discloses a cervical vertebra health monitoring method and system, and relates to the technical field of health monitoring.The method comprises the following steps: S1: scanning the cervical midline through a flexible tactile array, and positioning the spinous process vertex according to pressure peak feedback; S2: based on the spinous process vertex, performing multimodal sensor collaborative verification; S3: based on the multimodal sensor collaborative verification, synchronously triggering a displacement measurement unit to record the three-dimensional space coordinates of the probe; and S4: based on the collected three-dimensional space coordinates, fitting a cervical curve, and calculating the radius of curvature and the cervical lordosis angle.Combining tactile array pressure distribution analysis and IMU attitude correction, the multimodal sensor collaborative verification reduces errors caused by a single sensing mode, and improves the reliability of monitoring.By adopting a topology optimization algorithm and combining related formulas, soft tissue deformation and operation errors are compensated, the output dynamic bending data is more accurate, and the reliability of the monitoring result is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of health monitoring, in particular to a cervical vertebra health monitoring method and system. BACKGROUND

[0002] At present, cervical spondylosis has a trend of youth, and the main cause of the disease is that the staff who often work in a crouching posture or have a poor sitting posture and long-term use of smart electronic devices.

[0003] The prior art can be non-invasively detected by a mechanical sensor device, some monitoring methods using a single sensing method are easily disturbed by the outside world, and the accuracy and reliability are insufficient, and at the same time in the monitoring process, there are defects such as soft tissue interference and poor applicability to obese patients, causing inaccurate monitoring. SUMMARY

[0004] The embodiments of the present application provide a cervical vertebra health monitoring method and system, which aims to solve the problem that some monitoring methods using a single sensing method are easily disturbed by the outside world, and the accuracy and reliability are insufficient, and at the same time in the monitoring process, there are defects such as soft tissue interference and poor applicability to obese patients, causing inaccurate monitoring.

[0005] To achieve the above-mentioned purpose, the embodiments of the present application adopt the following technical solutions:

[0006] A cervical vertebra health monitoring method, comprising the following steps:

[0007] S1: Scanning the cervical midline by a flexible tactile array, and positioning the spinous process apex according to the pressure peak value feedback;

[0008] S2: Based on the spinous process apex, performing multi-modal sensing collaborative verification;

[0009] S3: Based on the multi-modal sensing collaborative verification, synchronously triggering a displacement measurement unit to record the three-dimensional space coordinates of the probe;

[0010] S4: Based on the collected three-dimensional space coordinates, fitting the cervical curve, calculating the curvature radius and the cervical lordosis angle;

[0011] S5: Based on the calculated curvature radius and the cervical lordosis angle, performing a topology optimization algorithm, compensating for soft tissue deformation and operation errors, and outputting dynamic bending degree data;

[0012] S6: Converting the bending degree data into a digital signal, filtering noise and preprocessing the data;

[0013] S7: Transmitting the preprocessed data to a display end.

[0014] Further, in S1, the flexible tactile array includes: contacting the multi-touch points of the probe arm with the skin, continuously collecting the pressure distribution data of the contact surface.

[0015] Further, in S2, the multi-modal sensor collaborative verification includes: tactile array pressure distribution analysis and IMU attitude correction.

[0016] Further, the tactile array pressure distribution analysis includes: based on the flexible tactile array scanning the cervical midline, recording the pressure value of each touch point in real time, and generating a two-dimensional pressure distribution map.

[0017] Further, the IMU attitude correction includes: the IMU outputs the three-axis acceleration, angular velocity and magnetometer data of the probe arm in real time, calculates the inclination and yaw angles through a sensor fusion algorithm, and the sensor fusion algorithm includes a Kalman filter algorithm.

[0018] Further, in S4, the fitted cervical curve adopts a B-spline curve fitting algorithm, and the specific formula of the B-spline curve fitting algorithm is:

[0019]

[0020] Wherein: is the coordinate of the fitted curve, is a control point, which is generated from the coordinate sequence of the apex of the spinous process, and Ni,3(u) is a cubic B-spline basis function.

[0021] Further, in S5, the topology optimization algorithm includes a cubic B-spline basis function Ni,3(u), and the specific formula is:

[0022]

[0023] Through least square method iteration adjustment to reduce the mean square error of the fitted curve and the measured coordinates.

[0024] Further, in S5, the compensation for soft tissue deformation and operation error is specifically:

[0025]

[0026] Wherein: is the soft tissue deformation variable, is the pressure measured by the tactile array, is the contact area of the sensor, d is the distance from the apex of the spinous process, and k,α is the patient size related coefficient.

[0027] Further, the system includes:

[0028] Cervical vertebra pressure acquisition module: for acquiring pressure distribution data of the contact surface;

[0029] Multi-modal sensing coordination module: for recording real-time contact pressure values, generating a two-dimensional pressure distribution map and outputting probe arm three-axis acceleration, angular velocity and magnetometer data, calculating the inclination and yaw angles.

[0030] Fitting cervical curve module: for calculating the radius of curvature and cervical lordosis angle.

[0031] Dynamic topology optimization module: for compensating for soft tissue deformation and operation errors, outputting dynamic flexion data.

[0032] Signal processing module: for converting flexion data into digital signals, filtering noise and preprocessing data.

[0033] Display module: for displaying the flexion state of the cervical vertebra.

[0034] Beneficial effects: By scanning the cervical midline with a flexible tactile array, the spinous process vertex is located according to pressure peak feedback, improving the accuracy of positioning and laying a good foundation for subsequent monitoring. Multi-modal sensing coordination verification is performed in combination with tactile array pressure distribution analysis and IMU attitude correction, reducing errors caused by single sensing methods and improving the reliability of monitoring. Topology optimization algorithm is adopted, combined with related formulas to compensate for soft tissue deformation and operation errors, making the output dynamic flexion data more accurate and improving the credibility of the monitoring results. The flexion data is converted, filtered and preprocessed to ensure the quality of the data transmitted to the display end, making it easy for users to clearly and accurately understand the cervical vertebra health status. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 The method flowchart of the present application;

[0036] Figure 2 The system schematic diagram of the present application; DETAILED DESCRIPTION

[0037] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0038] In the description of the present application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0039] The terms "first", "second", "third", etc. are used only for descriptive purposes and do not connote or imply relative importance or a number of the indicated technical features. Thus, features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specified and limited.

[0040] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0041] In combination Figure 1 As shown, the present application provides a cervical vertebra health monitoring method, comprising the following steps:

[0042] S1: Scanning the cervical midline through a flexible tactile array, and positioning the spinous process vertex according to pressure peak feedback;

[0043] S2: Based on the spinous process vertex, multi-modal sensor collaborative verification is carried out;

[0044] S3: Based on the multi-modal sensor collaborative verification, a displacement measurement unit is triggered to record the three-dimensional space coordinates of the probe;

[0045] S4: Based on the collected three-dimensional space coordinates, the cervical vertebra curve is fitted, the radius of curvature and the cervical lordosis angle are calculated;

[0046] S5: Based on the calculated radius of curvature and cervical lordosis angle, a topology optimization algorithm is carried out to compensate for soft tissue deformation and operation error, and dynamic flexion data is output;

[0047] S6: Convert the flexion data into digital signals, filter noise and preprocess the data;

[0048] S7: The preprocessed data is transmitted to the display end.

[0049] The application provides a cervical vertebra health monitoring method, which scans the cervical midline through a flexible tactile array, positions the spinous process vertex according to pressure peak feedback, improves the positioning accuracy, and lays a good foundation for subsequent monitoring. Multi-modal sensing collaborative verification is performed in combination with tactile array pressure distribution analysis and IMU attitude correction, errors caused by a single sensing mode are reduced, and the monitoring reliability is improved. A topological optimization algorithm is used in combination with relevant formulas to compensate for soft tissue deformation and operation errors, so that the output dynamic flexion data is more accurate, and the reliability of the monitoring result is improved. The flexion data is converted, filtered and preprocessed, the quality of the data transmitted to the display end is ensured, and the user can clearly and accurately understand the cervical vertebra health status.

[0050] In the embodiment of the application, the flexible tactile array comprises: contacting the multi-touch points of the probe arm with the skin to continuously collect pressure distribution data of the contact surface.

[0051] In the embodiment of the application, the multi-modal sensing collaborative verification comprises: tactile array pressure distribution analysis and IMU attitude correction.

[0052] In the embodiment of the application, the tactile array pressure distribution analysis comprises: scanning the cervical midline based on the flexible tactile array, recording the pressure values of the touch points in real time, and generating a two-dimensional pressure distribution map. In the tactile array pressure distribution analysis, the pressure values of the touch points are recorded in real time, and a two-dimensional pressure distribution map is generated, further verifying the accuracy of the spinous process vertex.

[0053] In the embodiment of the application, the IMU attitude correction comprises: the IMU outputs the three-axis acceleration, angular velocity and magnetometer data of the probe arm in real time, calculates the inclination and yaw angles through a sensor fusion algorithm, and the sensor fusion algorithm comprises a Kalman filter algorithm. In the IMU attitude correction, the IMU outputs the three-axis acceleration, angular velocity and magnetometer data of the probe arm in real time, calculates the inclination and yaw angles through the Kalman filter algorithm, and corrects the attitude of the probe arm.

[0054] In the embodiment of the application, the B-spline curve fitting algorithm is used to fit the cervical curve, and the specific formula of the B-spline curve fitting algorithm is:

[0055]

[0056] Wherein: is the coordinate of the fitted curve, is a control point generated from the coordinate sequence of the spinous process vertex, and Ni,3(u) is a cubic B-spline basis function. The coordinate of the fitted curve is calculated through the formula, and then the radius of curvature and the cervical lordosis angle are calculated.

[0057] In the embodiment of the application, the topological optimization algorithm comprises a cubic B-spline basis function Ni,3(u), and the specific formula is:

[0058]

[0059] By least square method iterative adjustment , the mean square error of the fitting curve and the measured coordinates is reduced.

[0060] In the embodiment of the present application, the compensation of soft tissue deformation and operation error is specifically as follows:

[0061]

[0062] Wherein: is the soft tissue deformation variable, is the pressure measured by the tactile array, is the sensor contact area, d is the distance from the apex of the spinous process, k, α is the patient body type related coefficient. According to the formula, the soft tissue deformation and operation error are compensated, and the dynamic flexion data are outputted, wherein the values of k, α are preset according to the body type of the monitored person.

[0063] Combined Figure 2 As shown in the figure, the embodiment of the present application also discloses a cervical vertebra health monitoring system, which comprises:

[0064] A cervical vertebra pressure acquisition module: for acquiring the pressure distribution data of the contact surface;

[0065] A multi-modal sensor coordination module: for recording the pressure values of each contact point in real time, generating a two-dimensional pressure distribution map and outputting the three-axis acceleration, angular velocity and magnetometer data of the probe arm, and calculating the inclination angle and the yaw angle.

[0066] A fitting cervical vertebra curve module: for calculating the radius of curvature and the lordotic angle.

[0067] A dynamic topology optimization module: for compensating the soft tissue deformation and operation error, and outputting the dynamic flexion data.

[0068] A signal processing module: for converting the flexion data into digital signals, filtering noise and preprocessing the data.

[0069] A display module: for displaying the flexion state of the cervical vertebra.

[0070] The cervical vertebra health monitoring method of the present application: the probe arm of the cervical vertebra health monitoring system is in contact with the skin of the neck of the monitored person, ensuring that the multi-touch points of the flexible tactile array can be in good distributed contact with the skin. 20 healthy volunteers aged 25-40 years old were selected as monitoring objects, including 10 males and 10 females, all of whom had no history of cervical spondylosis. The flexible tactile array is started to scan the midline of the neck and continuously collect pressure distribution data of the contact surface. The system accurately locates the spinous process vertex based on pressure peak feedback. For each volunteer, the C3-C7 spinous process vertices are successfully located, and the positioning deviation is less than 0.5 mm. Based on the located spinous process vertices, the tactile array pressure distribution analysis and IMU attitude correction are carried out. In the tactile array pressure distribution analysis, the pressure values of each touch point are recorded in real time to generate a two-dimensional pressure distribution map, which further verifies the accuracy of the spinous process vertex. At the location of the located spinous process vertex, the pressure value is significantly higher than that in the surrounding area, and the pressure peak value ranges between 3.5-5.2 kPa. In the IMU attitude correction, the IMU outputs the three-axis acceleration, angular velocity and magnetometer data of the probe arm in real time, and the inclination and yaw angles are calculated by the Kalman filtering algorithm to correct the attitude of the probe arm. The inclination error of the probe arm is controlled within ±0.3°, and the yaw angle error is controlled within ±0.5°. Based on the results of the multi-modal sensor collaborative verification, the displacement measurement unit is triggered synchronously to record the three-dimensional space coordinates of the probe. For each spinous process vertex, three sets of three-dimensional space coordinate data are recorded, and the average value is taken as the final result. Taking the C5 spinous process vertex as an example, its three-dimensional space coordinate average value is (125.3, 48.6, 89.2) mm. The B-spline curve fitting algorithm is used to fit the cervical curve based on the collected three-dimensional space coordinates, wherein the control points Pi are generated from the spinous process vertex coordinate sequence, and the formula is used to calculate the fitted curve coordinates, and then the curvature radius and cervical lordosis angle are calculated. After calculation, the curvature radius of the volunteer's cervical vertebra is between 75-95 mm, and the cervical lordosis angle is between 30°-45°, which meets the normal cervical physiological curvature range. Based on the calculated curvature radius and cervical lordosis angle, the topological optimization algorithm is used, which involves three B-spline basis functions, and the formula: is used for calculation, and the least squares method is used for iterative adjustment of Pi to reduce the mean square error of the fitted curve and the measured coordinates. After 5-8 iterations, the mean square error can be reduced to less than 0.3 mm. At the same time, according to the formula The soft tissue deformation and operation error are compensated, and dynamic bending degree data are output, wherein values of k and a are preset according to the body shape of the monitored person. In the present application, the value of k is 0.02, and the value of a is 0.8. After compensation, the error of the dynamic bending degree data is reduced by 35%-45% compared with before compensation. The dynamic bending degree data is converted into a digital signal, noise filtering is performed by using a filtering algorithm, and preprocessing is performed to remove invalid data and interference data. The signal-to-noise ratio of the processed data is improved by 20-30 dB. The preprocessed data is transmitted to a display end, and the display end displays the bending state of the cervical vertebra in an intuitive manner, such as a curve graph, a numerical value, etc.

[0071] In the present application, the cervical vertebra health monitoring system runs as follows:

[0072] The cervical vertebra pressure acquisition module acquires pressure distribution data of the contact surface in real time, and transmits the data to the multi-modal sensing coordination module.

[0073] The multi-modal sensing coordination module processes the received data, records the pressure values of each contact point in real time, generates a two-dimensional pressure distribution graph, receives the three-axis acceleration, angular velocity and magnetometer data of the probe arm output by the IMU, calculates the inclination angle and yaw angle, and transmits the related results to the fitted cervical vertebra curve module.

[0074] The fitted cervical vertebra curve module calculates the curvature radius and cervical lordosis angle based on the received data, and sends the results to the dynamic topology optimization module.

[0075] The dynamic topology optimization module uses a topology optimization algorithm to compensate for soft tissue deformation and operation error, and outputs dynamic bending degree data to the signal processing module.

[0076] The signal processing module converts the bending degree data into a digital signal, performs noise filtering and preprocessing, and transmits the data to the display module. The display module displays the bending state of the cervical vertebra.

[0077] In the description of the present application, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0078] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A cervical health monitoring method, characterized by, The method comprises the following steps: S1: scanning the cervical midline by a flexible tactile array, locating the spinous process vertex according to pressure peak feedback, the flexible tactile array comprising: contacting the multi-touch points of the probe arm with the skin, continuously collecting the pressure distribution data of the contact surface; S2: based on the spinous process vertex, performing multi-modal sensor collaborative verification, the multi-modal sensor collaborative verification comprising: tactile array pressure distribution analysis and IMU attitude correction; Wherein, the tactile array pressure distribution analysis comprises: based on the flexible tactile array scanning the cervical midline, recording the pressure value of each touch point in real time, and generating a two-dimensional pressure distribution map; Wherein, the IMU attitude correction comprises: the IMU outputs the three-axis acceleration, angular velocity and magnetometer data of the probe arm in real time, calculates the inclination and yaw angle through a sensor fusion algorithm, and the sensor fusion algorithm comprises a Kalman filter algorithm; S3: based on the multi-modal sensor collaborative verification, synchronously triggering the displacement measurement unit to record the three-dimensional space coordinates of the probe; S4: based on the collected three-dimensional space coordinates, fitting the cervical curve, calculating the radius of curvature and the cervical lordosis angle; S5: based on the calculated radius of curvature and the cervical lordosis angle, performing a topology optimization algorithm, compensating for soft tissue deformation and operation errors, and outputting dynamic bending data; S6: converting the bending data into a digital signal, filtering noise and preprocessing the data; S7: transmitting the preprocessed data to the display end.

2. A cervical health monitoring method as claimed in claim 1, wherein, In S4, the B-spline curve fitting algorithm is used to fit the cervical curve, and the specific formula of the B-spline curve fitting algorithm is: ; where: is the fitted curve coordinate, is the control point, generated from the coordinate sequence of the spinous process apex, Ni,3(u) is the cubic B-spline basis function.

3. A cervical health monitoring method as claimed in claim 2, wherein, In S5, the topology optimization algorithm comprises a Ni,3(u) cubic B-spline basis function, and the specific formula is: ; adjusted by least squares iteration to reduce the mean square error of the fitted curve to the observed coordinates.

4. The cervical health monitoring method of claim 1, wherein, In S5, the specific formula for compensating for soft tissue deformation and operation errors is: ; wherein: is the soft tissue deformation, is the pressure measured by the tactile array, is the sensor contact area, d is the distance from the apex of the spinous process, k, a are patient size dependent coefficients.

5. A cervical health monitoring system for implementing a cervical health monitoring method according to any one of claims 1 to 4, characterized by The system comprises: A cervical spine pressure acquisition module for collecting pressure distribution data of the contact surface; A multi-modal sensor collaborative module for recording the pressure value of each touch point in real time, generating a two-dimensional pressure distribution map, and outputting the three-axis acceleration, angular velocity and magnetometer data of the probe arm, and calculating the inclination and yaw angle; A fitting cervical curve module for calculating the radius of curvature and the cervical lordosis angle; A dynamic topology optimization module for compensating for soft tissue deformation and operation errors, and outputting dynamic bending data; A signal processing module for converting the bending data into a digital signal, filtering noise and preprocessing the data; A display module for displaying the bending state of the cervical spine.

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