Integrated cabin body of parkinson's disease and essential tremor detection cabin

Abstract

The application provides an integrated cabin body of a Parkinson's disease and essential tremor detection cabin, which comprises a cabin body, a cabin internal device arranged in the cabin body, a split equipment cabinet, an electrical cabinet, a controller and a cabin wiring structure. The cabin body comprises an overall frame, a cabin wall plate fixed to the overall frame in a clamping groove splicing structure, a cabin door arranged on the left or right side wall of the cabin body and a roof movable support rigidly fixed to the top frame of the cabin body. The cabin internal device comprises an electric seat assembly, an electric detection table, an electronic scale assembly, a television, a camera unit, a safety rope lifting lug, a limiting bump, an emergency stop button and a camera unit connecting assembly. The application realizes standardized and automated detection of Parkinson's disease and essential tremor, realizes strong and weak current partition isolation and electromagnetic shielding design to guarantee the stability and safety of the equipment, realizes cooperation of the equipment in the cabin, realizes humanized adaptation to the needs of patients, realizes synchronous collection of multi-modal data by multiple cameras and sensing units, realizes accurate capture of tremor characteristics and generation of an objective evaluation report.

Description

Technical Field

[0001] This invention relates to an integrated cabin for detecting Parkinson's disease and essential tremor, and particularly to a system that generates a systematic report through motion assessment and data integration to achieve early screening, identification, and quantitative assessment of the two tremor diseases. Background Technology

[0002] Parkinson's disease and essential tremor are common pathological tremor disorders in clinical practice. Currently, screening, differentiation, and disease assessment rely heavily on subjective scale scores and visual observation by physicians. This approach is highly subjective, lacks repeatability, and lacks quantitative standards, making it difficult to achieve early and accurate diagnosis and long-term disease monitoring. Existing testing equipment is mostly fragmented and standalone, lacking standardized and integrated testing capabilities. It also suffers from insufficient multimodal data synchronous acquisition, poor equipment coordination, low automation, and electromagnetic interference caused by the mixing of strong and weak electrical circuits, affecting the stability of precision sensing and imaging equipment. Consequently, it fails to meet the clinical needs for objective, efficient, and safe testing.

[0003] Therefore, the existing technology has problems and needs further improvement and development. Summary of the Invention

[0004] (I) Purpose of the invention: In order to solve the problems existing in the prior art, the purpose of the present invention is to provide an integrated cabin that generates a systematic report through motion assessment and data integration, so as to realize the early screening and identification of Parkinson's disease and essential tremor and quantitative assessment of the condition.

[0005] (II) Technical Solution: To solve the above-mentioned technical problems, this technical solution provides an integrated cabin for Parkinson's disease and essential tremor detection, comprising:

[0006] A cabin for providing a standardized, enclosed testing space, the cabin comprising an overall frame and cabin wall panels fixed to the overall frame;

[0007] The internal device of the cabin is installed inside the cabin and is used to automatically adjust the position and posture of the object being tested and simultaneously collect multimodal detection data; the internal device of the cabin includes at least: an electric seat assembly and an electric detection platform that are controlled to move, an electronic weighing scale assembly embedded in the bottom of the cabin, and a camera unit installed inside the cabin and whose position is controlled to be adjusted.

[0008] An external control and drive system is independently deployed outside the cabin and includes a split-type equipment cabinet and an electrical cabinet. The interior of the split-type equipment cabinet is divided into layers by insulating steel plates and contains a server and a synchronization controller for receiving and processing detection data and coordinating the operation of the devices inside the cabin. The electrical cabinet is electrically connected to the devices inside the cabin to provide control logic and drive power.

[0009] The cabin wiring structure is used to achieve strong and weak current isolation and communication between the internal devices of the cabin and the external control and drive system; the cabin wiring structure includes a wiring trough laid below the cabin; the wiring trough is provided with a partition to physically divide the trough cavity into a strong current wiring cavity and a weak current wiring cavity; wherein, the weak current signal cables connecting the camera unit and the sensing device are laid in the weak current wiring cavity that has undergone electromagnetic shielding treatment to form a continuous shielded cavity.

[0010] The camera unit includes multiple camera devices, one of which is mounted on the top of the extension section formed by the outward extension of the door pivot axis, and the remaining camera devices are respectively arranged on the top, front and left and right side walls inside the cabin; the camera devices on the inner side walls of the cabin are respectively arranged in the upper and lower sections of the corresponding side walls.

[0011] The internal device of the cabin also includes a camera unit connection assembly for driving the camera unit to perform vertical displacement; the camera unit connection assembly includes a guide rail connection plate fixed to the cabin wall panel, a lifting guide rail mechanism installed on the guide rail connection plate, and a camera connection bracket; the camera equipment is fixed on the camera connection bracket and is controlled to move up and down along the lifting guide rail mechanism.

[0012] The electric seat assembly includes a seat body, a seat movement guide rail arranged in the rear to middle area of ​​the cabin, and a slider fixed to the bottom of the seat body; the slider is slidably engaged above the seat movement guide rail and moves linearly back and forth under the drive of the seat movement motor; a seat height adjustment motor for adjusting the height is fixed below the seat body.

[0013] The electric seat assembly further includes an armrest unfolding and retracting mechanism, which includes a multi-tooth ratchet locking mechanism disposed at the rotatable connection of the armrest of the seat body, and a cam mechanism; the cam mechanism is hinged to the slider via a connecting rod.

[0014] As the electric seat assembly slides forward along the seat movement guide rail, the slider pushes the cam mechanism via the connecting rod, driving the armrest to unfold around the pivot, and the multi-tooth ratchet locking mechanism automatically engages and locks it; when the electric seat assembly slides backward, the slider pulls the cam mechanism in the opposite direction, causing the armrest to rotate back to the storage position.

[0015] The electric testing platform includes a tabletop body, a support mechanism, and testing platform moving guide rails symmetrically installed on both sides of the cabin. The translation slider fixed to the bottom of the support mechanism slides in cooperation with the testing platform moving guide rails and moves linearly back and forth under the drive of the testing platform moving motor.

[0016] The inner wall of the low-voltage wiring cavity in the cabin wiring structure is coated with nickel-based conductive paint to form an additional electromagnetic shielding layer; the low-voltage signal cables laid in the low-voltage wiring cavity are communication cables with independent metal braided shielding layers; the metal braided shielding layer is grounded in a 360° ring at the inlet of the wiring trough, so that the wiring trough as a whole constitutes a continuous Faraday cage shielding cavity; the minimum distance between the high-voltage wiring cavity and the low-voltage wiring cavity is not less than 50mm.

[0017] The upper area of ​​the split-type equipment rack is equipped with the server and the synchronization controller, while the lower area is equipped with the power distribution box and UPS power supply. The front area of ​​the split-type equipment rack is set as the equipment operation and low-voltage wiring area, and the rear area is set as the high-voltage wiring and main cable routing area, so as to achieve physical and electromagnetic dual isolation between high-voltage and low-voltage equipment.

[0018] The server determines the required posture for the current target detection condition and transmits condition prompts to the display terminal. The display terminal outputs the current detection condition, detection requirements, and a demonstration of standard actions in real time. If the current detection condition is a seated posture detection, the target height value of the camera unit is calculated based on the height data of the subject, and a position adjustment command is issued to drive the camera unit to a preset target position. Furthermore, the server is configured to issue a start command during the detection process, driving the electric seat assembly and the electric detection platform to move to a preset detection position, and automatically adjust the height of the chair surface and tabletop based on the height data. If the current detection condition is a standing posture detection, a position adjustment command is issued to move and retract the electric detection platform to its initial position. After determining that the subject maintains a stable standing posture, the electric seat assembly is moved and retracted to its initial position.

[0019] When performing detection work in the integrated cabin of the Parkinson's disease and essential tremor detection cabin, the server includes generating coordinated control commands for the camera unit, electric seat, and electric detection platform, specifically including the following steps:

[0020] Step 1: Before starting the detection scenario, determine the execution pose required for the current target detection condition;

[0021] If the working condition requires sitting posture detection, drive the electric seat assembly to move to the designated work station, and automatically adjust the seat height according to the height parameters of the person being tested; after the person being tested sits down, drive the electric testing platform to move to the corresponding work station, and complete the adaptive adjustment of the platform height to match the height of the person being tested.

[0022] If the working condition requires standing posture detection, drive the electric detection platform to move and store it in the initial position. After determining that the subject is maintaining a stable standing posture, drive the electric seat assembly to move and store it in the initial position.

[0023] Step two: Multiple camera units deployed in the testing chamber synchronously collect multi-view video streams of the patient using a unified time reference;

[0024] Step 3: Extract the three-dimensional spatial position data of each major joint of the patient in each frame from the multi-view video stream to form a joint pose time series.

[0025] Step 4: For each joint, determine the adjacent decision time based on the unified time reference, obtain the pose data of the joint at the adjacent decision time, and calculate the pose change.

[0026] Step 5: If the change in pose is less than or equal to a preset pose threshold, and the duration from when the joint enters the suspected stationary state to the current determination time is greater than a preset duration threshold, then the joint is determined to be in a stationary instantaneous state at the current determination time.

[0027] Step 6: If the change in pose is greater than the pose threshold, then the joint is determined to be in motion, and the current determination time is marked as the start time of the next static continuous state of the joint.

[0028] Step 7: Based on the real-time status determination results of each joint, generate coordinated control commands for the camera unit, electric seat, and electric testing platform.

[0029] (III) Beneficial effects: The integrated cabin of this invention enables standardized and automated detection of Parkinson's disease and essential tremor. The strong and weak current partitions and electromagnetic shielding design ensure the stability and safety of the equipment. The electric seats and testing platform inside the cabin work together automatically, humanely adapting to the needs of patients. Multiple cameras and sensing units simultaneously collect multimodal data, accurately capture tremor characteristics, and complete the objective evaluation of the system, providing objective data support for clinical diagnosis, disease monitoring and treatment effect evaluation. Attached Figure Description

[0030] Figure 1 This is an overall structural diagram of the present invention.

[0031] Figure 2 This is a schematic diagram of the internal structure of the electrical cabinet of the present invention.

[0032] Figure 3 This is a schematic diagram of the overall layout structure of the internal device of the cabin of the present invention.

[0033] Figure 4 This is a top view of the overall cabin of the present invention.

[0034] Figure 5 This is a magnified view of a portion of the internal equipment of the cabin.

[0035] Figure 6 This is a schematic diagram of the specific structure of the camera unit connection component.

[0036] Reference numerals: 100-Carrier body; 200-Internal components of the cabin; 300-Split-type cabinet; 400-Electrical cabinet; 101-Integral frame; 102-Carrier wall panel; 103-Carrier door; 104-Roof movable support; 105-Emergency stop button; 210-Electric seat assembly; 220-Electric testing platform; 230-Electric weighing scale assembly; 240-Television; 250-Camera unit; 260-Safety rope lifting lug; 270-High-strength polyurethane limiting protrusion; 280-Camera unit connection assembly; 281-Guide rail connection plate; 282-Camera connection bracket; 283-Lifting guide rail mechanism; 211-Seat body; 212-Seat moving guide rail; 213-Slider; a- Figure 3 Detailed view; 2111-Seat cushion; 2112-Backrest; 2113-Electric lifting push rod; 2114-Armrest; 221-Table body; 222-Support structure; 223-Detection table moving guide rail; 224-Moving slider; 231-Electronic weighing scale; 232-Embedded medical weighing scale support; 401-Main circuit breaker; 402-AC contactor; 403-DV24V power switch; 404-Multi-circuit independent circuit breaker; 405-Motor control unit; 406-Motor drive unit; 407-Intermediate relay; 408-Terminal block; 409-Lighting lamp; 410-Control button. Detailed Implementation

[0037] The present invention will be further described in detail below with reference to preferred embodiments. More details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention can obviously be implemented in many other ways different from those described herein. Those skilled in the art can make similar extensions and derivations based on actual application situations without departing from the spirit of the present invention. Therefore, the scope of protection of the present invention should not be limited by the content of this specific embodiment.

[0038] The accompanying drawings are schematic diagrams of embodiments of the present invention. It should be noted that these drawings are for illustrative purposes only and are not drawn to scale, and should not be construed as limiting the actual scope of protection of the present invention.

[0039] Please refer to Figure 1As shown, the integrated cabin of this Parkinson's disease and essential tremor detection cabin includes a cabin body 100, internal cabin devices 200 arranged within the cabin body 100, a split equipment cabinet 300, and an electrical cabinet 400. The cabin body is also equipped with a cabin wiring structure, which includes wiring channels, integrally formed partitions arranged within the wiring channels, and cabin cables. The partitions are preferably aluminum alloy partitions. The cabin body 100 includes an overall frame 101, cabin wall panels 102 fixed to the overall frame 101 by a slotted splicing structure, a cabin door 103 installed on the left or right side wall of the cabin body 100, a roof movable support 104 rigidly fixed to the top frame of the cabin body 100, and an emergency stop button 105.

[0040] The overall frame 101 of the cabin 100 is a cuboid frame composed of multiple fixed rods. The multiple fixed rods are fastened together by angle brackets and bolts. The load-bearing positions are fully reinforced by welding, forming a composite splicing structure with angle bracket connections and partial welding. The overall frame 101 is installed and positioned with the cabin wall panel 102, cabin door 103 and cabin internal devices 200 through slots.

[0041] Please refer to Figure 2 As shown, the electrical cabinet 400 includes a main circuit breaker 401, an AC contactor 402, a DC 24V power switch 403, a multi-channel independent circuit breaker 404, a motor control unit 405, a motor drive unit 406, an intermediate relay 407, a terminal block 408, a lighting lamp 409, and control buttons 410. Power supply lines and communication lines are respectively laid between the cabin 100 and the electrical cabinet 400, and the communication line connects to the motor drive 406. The control buttons 410 are located outside the electrical cabinet 400, and the emergency stop button 105 is located outside the cabin 100. The control buttons 410 and the emergency stop button 105 are respectively connected to the intermediate relay 407. When it is necessary to manually control the operation and stop of the internal device 200 of the cabin, operation is performed through the control buttons 410 or the emergency stop button 105. The split-type equipment cabinet 300 is equipped with a server, power distribution box, synchronous controller, UPS power supply and isolation plate, and the isolation plate is preferably galvanized steel plate.

[0042] The roof movable support 104 consists of an outer tube, an inner tube coaxially sleeved with the outer tube, and a spring pin. The roof movable support 104 is rigidly connected to the top frame of the cabin 100 via flanges and bolts. The roof movable support 104 adopts an inner and outer tube structure, with the inner and outer tubes coaxially sleeved. The outer tube serves as a fixed base, and the inner tube can be sleeved inside the outer tube, sliding towards each other along the sleeve axis to achieve height adjustment. The outer tube is equipped with a spring pin with elastic reset function. The inner tube sidewall has multiple sets of positioning holes arranged in a stop pattern along the axial direction. When external force is applied, the spring pin retracts and disengages from the positioning holes, allowing the inner tube to slide axially relative to the outer tube. When the inner tube moves to a preset stop position, the spring pin engages with the positioning holes of the inner tube to lock it in place.

[0043] The internal device 200 of the cabin includes an electric seat assembly 210, an electric detection platform 220, an electronic weighing scale assembly 230, a television 240, a camera unit 250, a safety rope lug 260, a high-strength polyurethane limiting protrusion 270, and a camera unit connection assembly 280. The safety rope lug 260 is flexibly arranged on the top frame of the cabin 100 using bolts and grooves, and can slide relative to each other along the top slide rail. Tightening the bolts and nuts at the bottom of the safety rope lug 260 secures its position. One end of the safety rope lug 260 is bent downwards to form a circular hanging hole, and an anti-detachment spring is installed at the hanging hole to prevent the safety rope from falling off.

[0044] The electric seat assembly 210 includes a seat body 211, a seat movement guide rail 212, and a slider 213. Please refer to... Figure 3 As shown, the seat body 211 includes a seat cushion 2111, a backrest 2112, an electric lifting push rod 2113, and armrests 2114. The electric seat assembly 210 is also equipped with a seat lifting adjustment motor, a seat movement motor, a seat position detection component, an armrest unfolding and folding mechanism, and a local seat control component. The seat movement motor is electrically connected to the motor drive unit 406 and is used to drive the electric seat assembly 210 to translate along the seat movement guide rail 212. The seat position detection component is electrically connected to the local seat control component, which is communicatively connected to the server and outputs a position signal to the server. The seat position detection component collects the position information of the electric seat assembly 210 in real time.

[0045] The electric testing station 220 includes a tabletop body 221, a support mechanism 222, a testing station moving guide rail 223, and a translation slider 224. The electric testing station 220 is also equipped with a testing station moving motor, a tabletop local control component, a tabletop position detector, and a tabletop lifting motor. The testing station moving motor and the tabletop lifting motor are electrically connected to the motor drive unit 406. The tabletop position detector is electrically connected to the tabletop local control component for collecting real-time position information of the tabletop body. The tabletop local control component is communicatively connected to the server.

[0046] The cabin wall panel 102 is assembled and fixed to the overall frame 101 using a slot assembly method, covering the six facades of the cabin 100: front, rear, left, right, top, and bottom. The four side facades of the cabin 100 are composed of seven panels, with two panels on the top and one panel on the bottom. Multiple grooves are provided on each panel to accommodate the sliding movement of the seat guide rail 212 and the testing table guide rail 223. The cabin door 103 is assembled to the left or right facade of the cabin 100 using a right-opening hinge structure.

[0047] Please refer to Figure 6 As shown, the camera unit connection assembly 280 includes a guide rail connection plate 281, a camera connection bracket 282, and a lifting guide rail mechanism 283. The guide rail connection plate 281 is fixed to the cabin wall panel 102, the lifting guide rail mechanism 283 is mounted on the guide rail connection plate 281, the camera connection bracket 282 is fixedly mounted on the guide rail connection plate 281, and the camera unit 250 is fixed on the camera connection bracket 282. The camera unit connection assembly 280 is also equipped with a camera lifting motor, a position detection component, and a camera local control component. The camera lifting motor drives the camera unit 250 to perform vertical displacement movement along the lifting guide rail mechanism 283. The position detection component collects and feeds back the current position signal of the camera unit 250 in real time. The camera lifting motor is electrically connected to the motor drive unit, the camera local control component is electrically connected to the position detection component, and it is communicatively connected to the server.

[0048] The hatch 103 is rotatably mounted on the cabin 100 via a pivot. The pivot and the integral frame 101 intersect at an end that extends outward to form an extension section. The camera unit 250 includes seven camera devices: one external camera fixed at the top of the extension section, and the other six deployed inside the cabin 100. One camera device is mounted on the top and front of the cabin 100, and two cameras are installed on each of the left and right side walls. Camera devices on the same side wall are located in the upper and lower sections of that side wall. The bottom of the split-type equipment cabinet 300 is bolted to the base frame of the cabin 100. The side wall of the split-type equipment cabinet 300 is locked to the side beam of the cabin 100 frame using angle brackets. A circular cable hole is provided on the top of the split-type equipment cabinet 300 to connect to the cabin 100. This cable hole is sequentially fitted with a rubber protective coil and fireproof putty to form a double-sealed structure. The cabin 100 is electrically connected to the split-type equipment cabinet 300, and the line connects to the camera unit 250.

[0049] The split-type equipment cabinet 300 is electrically connected to the electrical cabinet 400, and the wiring connects the motor controller 405 and the server. The split-type equipment cabinet 300 is internally divided into upper and lower sections and front and rear sections using the isolation plate. The upper and lower sections of the split-type equipment cabinet 300 respectively house low-voltage and high-voltage equipment. The upper section of the split-type equipment cabinet 300 houses the server and the synchronization controller, while the lower section houses the power distribution box and the UPS power supply. The front section of the split-type equipment cabinet 300 is designated for equipment operation and low-voltage wiring, while the rear section is designated for high-voltage wiring and main cable routing, achieving both physical and electromagnetic isolation of the high-voltage and low-voltage equipment and cables.

[0050] The cabin cables include both low-voltage and high-voltage signal cables. All cabin cables are laid beneath the cabin 100, running along the wiring channels at the bottom of the cabin 100 to each power point. The cabin wall panel 102 has a built-in dedicated cable channel, allowing the cabin cables to be concealed horizontally and vertically. These channels connect to electrical equipment such as the camera unit 250 and the electric seat assembly 210. Metal-shielded circular connectors are installed at the cable connection points to ensure excellent electromagnetic compatibility performance at the cable joints.

[0051] The cabling structure of the cabin adopts a cabling architecture that combines physical layering with metal shielding compartments. The partitions are installed inside the cabling troughs, and the thickness of the partitions is not less than 2mm. The cabling trough cavity is divided into a high-voltage cabling cavity and a low-voltage cabling cavity. The minimum net distance between the high-voltage cabling cavity and the low-voltage cabling cavity is not less than 50mm, so as to achieve physical isolation between the high-voltage and low-voltage lines. The inner wall of the low-voltage cabling cavity is sprayed with nickel-based conductive coating to form an additional electromagnetic shielding layer. All the low-voltage signal cables in the cabin 100 are industrial-grade Category 6a or Category 7 communication cables with independent metal braided shielding layers. The key sections of the cabling trough are equipped with metal covers with conductive sealing strips. The metal braided shielding layer of the low-voltage signal cables is grounded in a 360° ring at the inlet end of the cabling trough, so that the entire cabling trough constitutes a continuous Faraday cage shielding cavity, achieving full-area electromagnetic shielding.

[0052] The split-type equipment cabinet 300 is powered by an independent external power supply connected to the power distribution box. The power distribution output terminal of the power distribution box is electrically connected to the power input terminal of the UPS power supply. Under normal power supply conditions, the UPS power supply is electrically connected to the synchronous controller and the server in sequence, and charges its built-in battery. In case of power failure, the battery switches to output AC power to seamlessly power the split-type equipment cabinet 300 and prevent it from suddenly shutting down. The synchronous controller completes data transmission and interaction, and the server receives its coordination signals, completes data processing and program execution, and integrates the data to generate a detection and evaluation report.

[0053] In the electrical cabinet 400, the phase and neutral wires of the external 220V AC mains power are connected to the input terminal of the main circuit breaker 401. The output terminal of the main circuit breaker 401 is electrically connected to the input terminal of the AC contactor 402. The output terminal of the AC contactor 402 is divided into multiple power supply branches, each of which is connected to the multiple independent circuit breakers 404. The output terminal of one branch of the multiple independent circuit breakers 404 is connected to the DC24V power switch 403. The low-voltage output terminal of the DC24V power switch 403 is electrically connected to the motor control unit 405, providing operating power to the motor control unit 405. The output terminal of one branch of the multiple independent circuit breakers 404 is electrically connected to the lighting lamp 409 to form a circuit. The output terminals of the remaining independent circuit breaker branches of the multi-channel independent circuit breaker 404 are sequentially connected to the motor control unit 405, the motor drive unit 406, the intermediate relay 407, and the terminal block 408.

[0054] Please refer to Figure 5As shown, the electronic scale assembly 230 includes an electronic scale 231 and an embedded medical scale support 232. The embedded medical scale support 232 is bolted to the bottom of the chamber 100. The electronic scale assembly 230 is located at the center of the bottom of the chamber 100. The embedded medical scale support 232 is equipped with a receiving groove, and an annular baffle is provided around the groove. The electronic scale 231 is embedded in the receiving groove. The combination of the groove and the baffle limits the positional displacement of the electronic scale 231 under operating conditions.

[0055] The television 240 is fixedly installed on the cabin wall panel 102 directly in front of the electric seat assembly 210.

[0056] When the subject enters the cabin 100 and stands on the electronic scale assembly 230, the electronic scale 231 identifies the subject's weight data. The server determines the required posture for the current target detection condition and transmits the condition prompt information to the television 240. The television 240 outputs the current detection condition, detection requirements, and standard action demonstration screen in real time. The camera on top of the cabin 100 identifies the height data of the object being measured. The server calculates the target height value of each motion capture camera based on the height of the object being measured and issues a position adjustment command. The motor drive unit 406 drives the corresponding camera lifting motor to make vertical displacement movement along the lifting guide rail mechanism 283. The position detection component collects and feeds back the current position signal of the camera connecting bracket 282 in real time until the corresponding camera unit 250 moves to the preset target position. If the current detection condition is seated posture detection, the server is configured to issue a start command in the detection process to drive the electric seat assembly 210 and the electric detection platform 220 to move to the preset detection position, and automatically adjust the height of the seat cushion 2111 and the table body 221 based on the height data. After the camera local control component sends the positioning signal back to the server, the server issues a command to start the video acquisition action. If the current testing condition is standing posture testing, a position adjustment command is issued to drive the electric testing platform 220 to move and retract to the initial position. After it is determined that the subject maintains a stable standing posture, the electric seat assembly 210 is driven to move and retract to the initial position.

[0057] The television 240 provides prompting video guidance to the subject wearing the device to complete the action. The smart wearable device and the camera unit inside the cabin 100 collect the subject's motion information in real time and transmit it back to the server.

[0058] Please refer to Figure 5As shown, the seat moving guide rail 212 is arranged in the rear to middle area of ​​the cabin 10. The slider 213 is fixed to the bottom of the seat body 211 and slides on the seat moving guide rail 212 to move linearly back and forth. The seat lifting adjustment motor is connected to the motor drive unit 406. After the standing posture detection process is completed, the server sends a seat start command. After receiving the command, the motor drive unit 406 drives the seat moving motor to move the electric seat assembly 210 from the wall-mounted storage position to the preset detection position behind the standing marker. During the translation, the seat position detection component collects and feeds back the position information to the server in real time. When the electric seat assembly 210 moves to the target position, the seat local control component outputs a translation positioning signal. The server calculates the target height value of the seat body 211 based on the height of the person being measured and sends a position adjustment command. Then, the motor drive unit 406 drives the seat lifting adjustment motor to adjust the seat surface to the target height.

[0059] The armrest unfolding and retracting mechanism is used to drive the armrest 2114 to unfold and retract. The mechanism includes a cam mechanism, a connecting rod, and a multi-tooth ratchet locking mechanism. One end of the connecting rod is connected to the cam mechanism, and the other end is hinged to the slider 213. During the translation of the electric seat assembly 210, the cam mechanism follows the connecting rod to complete the rotational unfolding and retracting of the armrest 2114. When the electric seat assembly 210 slides forward towards the electronic scale assembly 230, the slider 213 pushes the cam mechanism via the connecting rod, driving the armrest 2114 to rotate around the axis away from the backrest 2112, completing the unfolding action of the armrest 2114. Simultaneously, the multi-tooth ratchet locking mechanism automatically engages and locks, completing the positioning and fixing of the armrest 2114. When the electric seat assembly 210 slides backward, the slider 213 pulls the cam mechanism in the opposite direction via the connecting rod, causing the armrest 2114 to rotate from the unfolded position to the retracted position. The multi-tooth ratchet locking mechanism is configured at the rotatable connection between the armrest 2114 and the backrest 2112. This mechanism features asymmetrical sawtooth teeth, and the ratchet is matched with two to three stepped pawls, each driven by a high-strength torsion spring. After the armrest 2114 rotates and unfolds to a predetermined position, the torsion spring drives the pawls to quickly engage with the ratchet teeth, locking the armrest 2114 in place. The ratchet teeth have nearly vertical sidewalls, and the force-bearing surface for the folding load is a near 90° vertical structure. When the armrest 2114 is subjected to an external force in the folding direction, the pawls wedge into the ratchet teeth for reinforcement, increasing the self-locking performance with increasing load, thus achieving circumferential locking of the armrest 2114. During unlocking, the connecting rod drives the cam mechanism, which simultaneously lifts all pawls to disengage from the ratchet, unlocking the mechanism and allowing the armrest 2114 to rotate and fold back.

[0060] The high-strength polyurethane limiting protrusion 270 is fixedly installed at the limit position of the travel of the seat moving guide rail 212. The high-strength polyurethane limiting protrusion 270 forms a rigid physical barrier, and the travel of the electric seat assembly 210 is completely locked. After all the adjustment actions of the electric seat assembly 210 are completed, the seat local control component outputs a seat ready signal to the server, and the system enters the sitting posture detection mode.

[0061] A support mechanism 222 is provided below the tabletop body 221. The translation slider 224 is fixed to the bottom of the support mechanism 222 and is slidably positioned above the moving guide rail 223 of the testing platform for linear reciprocating movement. A cross-shaped guide rail and an electric lifting column are also provided above the translation slider, forming an XYZ three-axis linkage platform. Please refer to... Figure 4As shown, two sets of the testing platform moving guide rails 223 are provided. The testing platform moving guide rails 223 are symmetrically installed on both sides of the cabin 10, and the end position of the testing platform moving guide rails 223 does not exceed the boundary of the cabin door 103. The high-strength polyurethane limiting protrusions 270 are fixedly installed at the travel limit position of the testing platform moving guide rails 223. The high-strength polyurethane limiting protrusions 270 form a rigid physical partition, and the travel of the electric testing platform 220 is completely locked.

[0062] After the camera on top of the cabin 100 switches to the sitting posture detection mode, the server outputs a table start control command. The motor drive unit 406 drives the detection table moving motor to operate. The electric detection table 220 moves along the detection table moving guide rail 223 towards the preset detection position in front of the object being tested. During the translation of the electric detection table 220, the table position detector collects the real-time position information of the table body 221 and transmits the position feedback signal to the server. When the table body 221 is detected to have moved to the preset working position, the server calculates the target height value of the electric detection table 220 based on the height of the object being tested and issues a position adjustment command. Subsequently, the motor drive unit 406 drives the table lifting motor to adjust the table to the target height. The table local control component outputs a table positioning signal to the server. After receiving the signal, the server starts the sitting posture detection process. The object being tested completes the action according to the prompts of the TV 240. The smart wearable device and the camera unit inside the cabin 100 collect the motion information of the object being tested in real time and transmit it back to the server. After the testing is completed, the patient returns to the electronic scale 231. The server issues a reset command, and the electric testing platform 220 and the electric seat assembly 210 move back to their initial positions along their original paths. The camera unit 250 also resets to its initial position. The subject removes the smart wearable device and leaves the cabin 100. The server automatically generates a test report based on the collected test information.

[0063] When conducting tests in the integrated cabin of the Parkinson's disease and essential tremor detection chamber, the server generates coordinated control commands for the camera unit, electric seat, and electric testing platform, specifically including the following steps:

[0064] Step 1: Multiple camera units deployed in the testing chamber synchronously collect multi-view video streams of the patient using a unified time reference;

[0065] Step 2: The server extracts the three-dimensional spatial position data of each major joint of the patient in each frame from the multi-view video stream to form a joint pose time series.

[0066] Step 3: For each joint, determine the adjacent decision time based on the unified time reference, obtain the pose data of the joint at the adjacent decision time, and calculate the pose change.

[0067] Step 4: If the change in pose is less than or equal to a preset pose threshold, and the duration from when the joint enters the suspected stationary state to the current determination time is greater than a preset duration threshold, then the joint is determined to be in a stationary instantaneous state at the current determination time.

[0068] Step 5: If the change in pose is greater than the pose threshold, then the joint is determined to be in motion, and the current determination time is marked as the start time of the next static continuous state of the joint.

[0069] Step six: Based on the real-time status determination results of each joint, generate coordinated control commands for the camera unit, electric seat, and electric testing platform.

[0070] In step one, the unified time reference is provided by the hardware clock of the synchronization controller, and the multiple camera units achieve frame-level synchronous acquisition under the trigger of the synchronization controller.

[0071] The server pre-stores the spatial pose extrinsic and intrinsic parameter matrices of multiple camera units. By using triangulation or epipolar geometry constraints, the 2D joint pixel coordinates from multiple viewpoints are reprojected to calculate the absolute three-dimensional spatial coordinates of each joint.

[0072] In step three, the adjacent determination moments refer to two adjacent time sampling points, arranged sequentially at fixed time intervals or according to the video frame period, using a unified time reference as a scale, for determining whether the patient's joint is in a static instantaneous state. The time interval between the adjacent determination moments is equal to the frame period of the camera unit.

[0073] The pose change is calculated in the following way:

[0074] Obtain the pose data of the joint at the k-th decision time. pose data at the (k+1)th decision time ;

[0075] Calculate the Euclidean distance between the pose data. , which is the change in pose.

[0076] In step four, the posture threshold is dynamically adjusted according to the severity of the patient's tremor symptoms: the greater the tremor amplitude, the larger the posture threshold value. The duration threshold is set differently according to the patient's joint type, wherein the duration threshold for upper limb joints is smaller than that for lower limb joints.

[0077] In step six, collaborative control commands are generated based on the real-time status determination results of each joint, including:

[0078] When it is determined that the patient's hip and knee joints are in motion, the lifting and adjusting mechanism of the electric seat drives the seat to the lowest position, and at the same time controls the armrest unfolding and storage mechanism to perform the armrest unfolding action.

[0079] When it is determined that the patient's hip and knee joints have entered a momentary static state and the duration exceeds the duration threshold, the seat lifting and adjustment mechanism is controlled to adjust the seat surface to the preset detection height.

[0080] Once it is determined that the patient's wrist and elbow joints have entered a momentary static state, the electric detection stage is controlled to move along the translation guide rail to the preset position in front of the patient.

[0081] Once it is determined that the patient's head and trunk joints have entered a static momentary state, the target height value of each motion capture camera is calculated by combining the patient's height data and current body position, and the lifting drive mechanism is controlled to drive the corresponding camera unit to make vertical displacement movement along the lifting guide rail.

[0082] Step five also includes calculating the effective motion count.

[0083] The effective motion count is maintained based on the comparison between the pose change and the pose threshold. If the pose change is greater than the pose threshold for N consecutive adjacent judgment times, the effective motion count increases by 1. If the pose change is less than or equal to the pose threshold for M consecutive adjacent judgment times, the effective motion count decreases by 1. When generating the collaborative control command in step six, the effective motion count is referenced: when the effective motion count is greater than the preset motion count threshold, the patient is determined to be in an active motion period, and the electric seat and the electric detection platform are controlled to perform avoidance actions.

[0084] Step six generates coordinated control instructions for the camera unit, including: when it is determined that the patient's head joint is in motion, controlling the corresponding camera unit to switch to wide field of view mode to expand the shooting range; when it is determined that the patient's head joint enters a static momentary state, controlling the corresponding camera unit to switch to narrow field of view mode to focus on shooting the patient's facial micro-expressions and eye tremor features.

[0085] Step six generates coordinated control commands for the electric seat, including: when it is determined that the patient's trunk joint is in motion, controlling the seat back angle adjustment mechanism to tilt backward by a preset angle to provide more space for the patient to sit down; when it is determined that the patient's trunk joint enters a static momentary state, controlling the seat back angle adjustment mechanism to return to the vertical detection position.

[0086] Step six generates coordinated control commands for the electric detection platform, including: when it is determined that the patient's wrist joint is in motion, controlling the electric detection platform to stay in the initial storage position; when it is determined that the patient's wrist joint enters a momentary static state, controlling the electric detection platform to move along the translation guide rail to a preset work position in front of the patient; during the movement of the electric detection platform, continuously monitoring the state determination result of the patient's upper limb joint, and if the patient's upper limb joint re-enters a motion state, controlling the electric detection platform to stop moving or reverse back.

[0087] The real-time status determination results of each joint are recorded as a time-state sequence and transmitted to the server. The server calculates the total static duration, total motion duration, and state switching frequency of each joint during the detection process based on the time-state sequence, which serve as quantitative indicators for assessing the patient's motor function.

[0088] For example, inside the testing chamber, a multi-view video stream of the patient is synchronously acquired via camera units: one on the top, one on the front, and two on each of the left and right side walls, all triggered by a synchronous controller and using a unified time reference. The server timestamps each frame of video data using the unified time reference.

[0089] The server runs a joint position extraction algorithm to extract the patient's major joints, including the shoulder, elbow, wrist, hip, knee, and ankle, from the multi-view video stream, forming a time series of joint poses for each patient in three-dimensional space for each frame.

[0090] .

[0091] For each joint Determine adjacent decision times using a unified time benchmark. and Obtain the joint in Pose data at time step and in Pose data at time step .

[0092] Calculate pose change: .

[0093] Pose threshold and duration threshold All are preset values. And from the time the joint entered a suspected stationary state until Duration Then it is determined that the joint is in It is in a state of static instantaneous motion. If If so, the joint is determined to be in motion, and... This is marked as the start time of the next static continuous state of the joint.

[0094] Based on the real-time status of each joint, the server generates coordinated control commands for the equipment inside the cabin.

[0095] Electric seat control: When the system detects that the patient's hip and knee joints are in motion, i.e., the patient is attempting to sit down, the seat height adjustment mechanism slowly lowers the seat to its lowest position. Simultaneously, the armrests unfold and retract, reducing the difficulty for the patient to sit down. When the system detects that the hip and knee joints have entered a momentary static state, i.e., the patient is seated, and the duration exceeds a certain threshold, the seat height adjustment mechanism adjusts the seat to a preset detection height.

[0096] Electric testing table control: When it is determined that the patient's wrist and elbow joints have entered a static momentary state, that is, the upper limbs have been placed on the table, the server sends a table start command, and the electric testing table moves along the translation guide rail to the preset work position in front of the patient.

[0097] Camera unit control: When it is determined that the patient's head and trunk joints have entered a static momentary state, the server combines the patient's height data (pre-collected by the top camera) and the current body position to calculate the target height value of each motion capture camera, and issues a position adjustment command. The lifting drive mechanism drives the camera unit to make vertical displacement movement along the lifting guide rail.

[0098] In the process of generating coordinated control commands for the camera unit, electric seat, and electric detection platform, Parkinson's disease patients experience resting tremor, typically at a frequency of 4-6 Hz, leading to high-frequency switching between adjacent frames in determining joint stillness / movement states. Additionally, control response delays are caused by duration thresholds. Therefore, a determination method based on effective tremor counting and dual-mode switching is employed to control the duration threshold, the pose threshold, and the output mode of the coordinated control commands. Specifically, effective tremor counting is introduced to distinguish pose fluctuations caused by tremor from the patient's voluntary movements. When the effective tremor count exceeds a preset threshold, the system switches from normal mode to emergency mode. In emergency mode, the duration threshold is shortened to accelerate the response speed, the pose threshold is amplified to avoid high-frequency switching in determination, and the coordinated control commands are low-pass filtered to ensure stable equipment operation.

[0099] Specifically, the steps include the following:

[0100] In the initial stage of detection, the tremor frequency and tremor amplitude of each joint of the patient are extracted by spectral analysis to establish a tremor feature whitelist. The tremor feature whitelist records the tremor frequency range and tremor amplitude range of each joint.

[0101] An effective tremor count is introduced. At each determination time, if the pose change is less than or equal to the pose threshold and the frequency component of the pose change belongs to the tremor frequency range of the tremor feature whitelist, the effective tremor count is increased by 1; if the pose change is greater than the pose threshold and the frequency component of the pose change does not belong to the tremor frequency range of the tremor feature whitelist, the effective tremor count is decreased by 1.

[0102] When the effective tremor count is less than or equal to the preset counting threshold, the integrated cabin is in normal mode, and the pose threshold and duration threshold described in steps one to six are used for determination.

[0103] When the effective tremor count is greater than the count threshold, the integrated cabin switches to emergency mode. In emergency mode, the duration threshold is shortened to the emergency duration threshold, the pose threshold is amplified to the emergency pose threshold, and the cooperative control command generated in step six is ​​low-pass filtered.

[0104] The emergency duration threshold is less than the duration threshold, and the emergency posture threshold is greater than the posture threshold. The emergency duration threshold and the emergency posture threshold are dynamically adjusted according to the patient's current tremor amplitude: the greater the tremor amplitude, the smaller the emergency duration threshold and the greater the emergency posture threshold.

[0105] In the three-dimensional space inside the cabin, the area near the movement range boundary of the electric seat and the electric detection table is set as a safe response zone; when the predicted position of the patient's joint enters the safe response zone, the emergency mode is forcibly switched even if the effective tremor count does not exceed the count threshold.

[0106] When the effective tremor count is less than the count threshold for N consecutive judgment times, the system recovers from emergency mode to normal mode. During the mode switching process, the duration threshold and the pose threshold are gradually transitioned to avoid the judgment result jumping due to sudden threshold changes.

[0107] When introducing effective tremor counts, if the pose change is greater than the pose threshold but its frequency component falls within the tremor frequency range of the tremor feature whitelist, it is determined to be a tremor amplitude exceeding the limit event. The effective tremor count remains unchanged, and the number of occurrences and duration of the event are recorded.

[0108] The number of occurrences and duration of vibration amplitude exceeding the limit events for each joint during the detection process are counted. When the cumulative duration of vibration amplitude exceeding the limit events for a certain joint exceeds the preset time threshold, the pose threshold and duration threshold of that joint are adjusted to adapt to the changes in the vibration characteristics of that joint.

[0109] To address the issue of frequent switching between adjacent frames in determining the resting / moving state of joints due to resting tremor in Parkinson's disease patients, as well as the control response delay introduced by the duration threshold, an adaptive determination method based on effective tremor counting and dual-mode switching is adopted, and a specific embodiment is used for illustration.

[0110] In the initial 5-second detection phase, the server extracts data segments from the joint pose time series formed in step two, performs a Fast Fourier Transform on the displacement signal of each joint, and extracts the tremor frequency. and tremor amplitude Establish a whitelist of tremor characteristics for this patient: ,in and These are the upper and lower limits of the vibration frequency, and can be 4Hz and 6Hz. and These represent the upper and lower limits of the tremor amplitude. The whitelist data is stored in the server's memory and used for frequency component comparison at each subsequent judgment time.

[0111] Introducing effective tremor counting This is used to quantify whether joint j is currently in a state dominated by tremor or voluntary movement.

[0112] At each decision time The server calculates the pose change. And execute the following decision logic:

[0113] like ,and Frequency components belong to the tremor feature whitelist If the range of tremor frequencies is within a certain range, then the pose change is determined to be caused by tremor, and the effective tremor count is increased by 1: ;

[0114] like ,and Frequency components are not included in the tremor feature whitelist If the tremor frequency range is within a certain range, then the posture change is determined to be caused by voluntary movement, and the effective tremor count is reduced by 1: ;

[0115] like However, the frequency component belongs to the whitelist of tremor characteristics. If the tremor frequency range is exceeded, it is determined to be a tremor amplitude exceeding the limit event. The effective tremor count remains unchanged, and the number of occurrences and duration of the event are recorded.

[0116] Methods for determining frequency components: [The text abruptly ends here, likely due to an incomplete sentence or a formatting error.] Take a short time window before and after the signal, such as 0.15 seconds before and after, and calculate the zero-crossing rate of the displacement signal within the window. If the zero-crossing rate is in the range of 4-12 times / second, then the frequency component is determined to belong to the whitelist of thrill characteristics.

[0117] The server will effectively count the tremors. Compared with the preset counting threshold Comparison:

[0118] Normal mode: When At this time, the integrated cabin is in normal mode. In this mode, a dual-threshold determination method of "pose threshold plus duration threshold" is adopted, with the duration threshold set to... The pose threshold is set to ;

[0119] Emergency Mode: When At this time, the integrated cabin switches to emergency mode. In emergency mode:

[0120] The duration threshold is shortened to To respond more quickly to changes in patient condition;

[0121] The pose threshold is amplified to To avoid misinterpreting tremors as voluntary movements.

[0122] The coordinated control commands generated in step six are subjected to a first-order low-pass filter, with the filter coefficients... This makes the changes in control commands smoother and avoids equipment jitter caused by rapid switching of judgment results.

[0123] Within the three-dimensional space of the cabin, a 5cm range at each end of the linear guide travel of the electric seat and a 5cm range at each end of the translational guide travel of the electric testing platform are defined as safe response zones. When the predicted position of the patient's joint enters the safe response zone, even with effective tremor counting... Not exceeding the counting threshold The server was also forced to switch to emergency mode to trigger security protection actions with the shortest possible delay.

[0124] When effective tremor count Less than 10 consecutive judgment times When switching modes, the system returns to normal mode from emergency mode. During the mode switching process, the duration threshold and pose threshold transition linearly with a transition time of 0.5 seconds to avoid abrupt changes in the judgment result due to sudden threshold changes.

[0125] The server tracks the number of times and the cumulative duration of vibration amplitude exceeding the limit events for each joint during the detection process. When the cumulative duration of vibration amplitude exceeding the limit events for a certain joint exceeds the preset time threshold of 2 seconds, it indicates that the vibration amplitude of that joint has increased. The server automatically increases the pose threshold of that joint by 20% and decreases the duration threshold by 20% to adapt to the changes in the vibration characteristics of that joint.

[0126] The rigidity and tremor of limbs in Parkinson's disease patients have periodic characteristics. Existing detection cabins only respond passively and lack the ability to predict the patient's movement trends, resulting in equipment adjustment lag. Therefore, when conducting detection work in the integrated cabin of the Parkinson's disease and essential tremor detection cabin, it also includes generating pre-adjustment commands for the camera unit, electric seat, and electric detection platform, specifically including the following steps:

[0127] Step A: Model the patient's upper or lower limb as a joint chain structure, the joint chain including a root joint and at least one sub-joint, and define a local coordinate system with the root joint as the origin;

[0128] Step B: In the initial stage of detection, time-series data of the patient's joint posture are collected, and the tremor frequency, tremor amplitude and stiffness index of each joint are extracted through spectral analysis.

[0129] Step C: Using the stiffness index as the driving intensity, establish a mapping relationship between the driving intensity and the predicted amplitude, predicted wavelength, and predicted wave velocity, wherein the driving intensity is positively correlated with the predicted amplitude and negatively correlated with the predicted wavelength, and the tremor frequency is positively correlated with the predicted wave velocity.

[0130] Step D: Based on the sine function and the mapping relationship, predict the positional offset of each joint of the patient at subsequent time points;

[0131] Step E: Based on the predicted joint position offset, pre-adjustment instructions are generated for the camera unit, electric seat, and electric testing platform before the patient actually moves, thereby adjusting the operating parameters of the camera unit, electric seat, and electric testing platform in advance.

[0132] In step D, the positional offset of each joint of the patient at subsequent time points is predicted based on a sine function, using the following formula: ,in To predict the amplitude, To predict wavelength, To predict wave speed, This is the distance from the subjoint to the root joint. For the initial phase shift, For a moment.

[0133] In step E, based on the predicted joint position offset, pre-adjustment commands are generated for the camera unit, the electric seat, and the electric detection stage before the patient actually moves, adjusting the operating parameters of the camera unit, the electric seat, and the electric detection stage in advance, including:

[0134] Based on the predicted head and torso position offset, the lifting height and pitch angle of the camera unit are adjusted in advance to ensure that the patient's key joints are always in the center of the camera's field of view.

[0135] Based on the predicted upper limb position offset, after the electric detection table reaches the preset position, micro-motion compensation is superimposed so that the tabletop makes a slight displacement following the predicted movement trajectory of the patient's upper limb.

[0136] Based on the predicted torso position offset, a slight height compensation is applied after the electric seat is raised or lowered into position.

[0137] Step D also includes distance constraint correction for the predicted joint positions to ensure that the Euclidean distance between the predicted joint positions does not exceed the length of the human skeleton. Collision detection is performed between the predicted joint positions and the spatial positions of the internal devices of the cabin. If spatial interference occurs between the predicted positions and the internal devices, the predicted trajectory is corrected.

[0138] Here, a specific embodiment of generating pre-adjustment instructions for the camera unit, electric seat, and electric testing platform is described.

[0139] The patient's upper limb is modeled as a joint chain structure, consisting of the shoulder, elbow, wrist, and fingertips. The shoulder is the root joint, the elbow is sub-joint 1, the wrist is sub-joint 2, and the fingertips are distal sub-joints. The lower limb joint chain consists of the hip, knee, and ankle joints, with the hip being the root joint, the knee being sub-joint 1, and the ankle being sub-joint 2. For each joint chain, a local coordinate system is defined with the root joint as the origin, and the vertical axis pointing from the root joint to the first sub-joint.

[0140] In the initial 5 seconds before detection, the server collects time-series data of the patient's joint pose and extracts the following parameters through spectral analysis:

[0141] Tremor frequency The dominant frequency of joint tremors, typically 4-6 Hz in Parkinson's disease;

[0142] Tremor amplitude Peak amplitude of tremors in each joint;

[0143] Stiffness Index The ratio of a joint's range of motion to its normal range reflects the degree of stiffness.

[0144] Specifically, the time-series data of the patient's joint poses are obtained to produce a set of three-dimensional coordinate data that changes over time: .in It is the time of the kth frame, and N is the total number of frames in the first 5 seconds of the initial detection phase.

[0145] Calculate the wrist joint relative to its initial position at each moment. Displacement amount: This yields a one-dimensional displacement-time signal. .

[0146] right Perform a Fast Fourier Transform to obtain the spectrum. : This yields a spectrum.

[0147] The frequency corresponding to the peak with the largest amplitude in the spectrum is the flutter frequency. The height of the main peak in the spectrum reflects the severity of the tremor, which is the tremor amplitude. By combining spectral analysis results and joint range of motion data, a quantitative index reflecting the degree of joint movement restriction was obtained, namely the stiffness index. Specifically, the stiffness index can be obtained based on the spectral energy distribution or the ratio of active range.

[0148] The stiffness index The specific calculation model is as follows:

[0149] By capturing the active movement of the patient's joints during the initial stage of the test, the actual range of motion angles in three-dimensional space is calculated. And the range of joint range of motion of the normal population is significantly different. Compare and define the stiffness index. for: And limited by the amplitude limiting function . The closer a value is to 1, the stiffer the joint.

[0150] Using the stiffness index as the driving strength, a mapping relationship is established between the driving strength and the predicted amplitude, predicted wavelength, and predicted wave velocity:

[0151] Stiffness Index With predicted amplitude A positive correlation was found: the more rigid the patient, the greater the predicted range of sudden limb displacement during the testing process;

[0152] Stiffness Index With predicted wavelength A negative correlation was found: the more rigid the patient, the shorter the predicted spatial periodicity of their limb movements.

[0153] Tremor frequency With predicted wave speed A positive correlation exists: the faster the tremor, the faster the predicted speed of motion propagation.

[0154] Establish the driving strength, i.e., the stiffness index. With predicted amplitude Predicted wavelength The mathematical mapping model is shown in the following formula.

[0155] The formula for predicting the linear mapping of amplitude is: ,in, The patient's historical average tremor amplitude. The preset amplitude compensation gain coefficient is preferably 1.2-1.5. This represents the maximum safe displacement margin for the joint. If this is the first test, then... Take the current average flutter amplitude extracted during the initial 5 seconds before detection.

[0156] The formula for predicting the exponential attenuation of wavelength is: ,in, The reference wavelength in a non-rigid state. The wavelength attenuation coefficient is preferably 0.8. This formula indicates that the more rigid the patient, the more exponentially the wavelength of the mechanical wave caused by muscle spasms shortens.

[0157] The formula for predicting wave velocity is combined with the extracted flutter frequency. Predicting wave speed The calculation is as follows: .

[0158] Predicting the positional offset of a patient's joint at time t based on a sine function: Where d is the distance from the subjoint to the root joint. This is the initial phase offset.

[0159] Based on the predicted joint position offset, the server adjusts the equipment inside the cabin in advance, before the patient actually moves.

[0160] Pre-tracking of the camera unit: Based on the predicted head and torso position offset, the camera unit's height and pitch angle are adjusted in advance to ensure that the patient's key joints are always in the center of the camera's field of view.

[0161] Electric testing table pre-compensation: Based on the predicted upper limb position offset, after the testing table reaches the preset position, micro-motion compensation is superimposed, so that the tabletop makes a slight displacement following the predicted movement trajectory of the patient's upper limb, ensuring that the patient's upper limb always remains in contact with the testing table.

[0162] Electric seat pre-adjustment: Based on the predicted trunk position offset, after the seat is raised or lowered to the correct position, a slight height compensation is added to alleviate the patient's discomfort caused by stiffness.

[0163] Specifically, a contact model of the upper limb joint chain and the table is established: Let the predicted position of the patient's wrist joint be... The predicted position of the elbow joint is The current spatial position of the tabletop of the electric testing station is... The normal vector of the tabletop plane is .

[0164] Calculate the projected position of the upper limb on the table surface: Project the predicted position of the wrist joint onto the table surface to obtain the desired contact point. : .

[0165] Calculate the target position of the tabletop: Target position of the tabletop The center of the tabletop should be aligned with the desired contact point. Alignment, while maintaining table height matching wrist height: ,in Use a height equal to half the thickness of the tabletop to ensure your wrist rests precisely above the table.

[0166] Calculate the micro-motion compensation amount: The compensation amount is a three-dimensional vector. , which represents the minute displacement of the tabletop in three directions.

[0167] To prevent excessive compensation from causing equipment damage, the compensation amount is limited: ,in This represents the maximum permissible displacement for a single compensation, such as 5mm.

[0168] Generate pre-adjustment instructions, The commands are broken down into driving commands in the direction of translation and vertical direction, and then sent to the table translation drive mechanism.

[0169] Establish the geometric relationship between the torso and the seat: Let the predicted position of the patient's hip joint be... The current height of the seat surface is The ideal height of the chair should maintain a comfortable height difference between the patient's hip joint and the chair surface. Based on ergonomic design, such as 5cm: .

[0170] Calculate the height compensation amount: .

[0171] Limiting and smoothing: To prevent frequent seat adjustments from causing patient discomfort, a dead zone threshold is introduced. and low-pass filtering:

[0172] like If the condition is not met, compensation will not be performed; this is a dead zone filtering.

[0173] like If compensation is performed, the compensation speed is limited by the maximum lifting speed. : ,in To control the cycle.

[0174] Generate pre-adjustment instructions: The drive command is issued as the seat height adjustment mechanism.

[0175] The predicted positions are constrained and corrected. Distance constraint: ensure that the Euclidean distance between the predicted joint positions does not exceed the length of the human skeleton to avoid unreasonable predictions of joint stretching. Collision detection: perform collision detection between the predicted joint positions and the spatial positions of the internal devices of the cabin, such as electric detection platform, seat armrests, camera units, etc. If the predicted position interferes with the internal equipment, the predicted trajectory is corrected.

[0176] Specifically, establish a human skeletal length database: pre-store the lengths of each bone segment of the patient. , where i and j represent the indices of adjacent joints. For example:

[0177]

[0178] Segment-by-segment distance check: For each bone segment, let the predicted position of its parent joint be... The predicted position of the sub-joint is Calculate the Euclidean distance between the two: .

[0179] If the distance exceeds the bone length, perform a correction: If This indicates that the sine wave prediction caused the joint chain to be unreasonably stretched, and the child joints need to be pulled back along the direction of the parent joint: That is, keep the direction unchanged, but forcibly shorten the distance to the length of the skeleton. .

[0180] Since a correction to one joint may affect downstream joints, the correction needs to be propagated downwards from the root joint.

[0181] Modeling of in-cabin equipment collision bodies: Simplify the various equipment inside the cabin into basic geometric shapes, i.e., collision bodies, and store them in a 3D spatial model on the server:

[0182]

[0183] Collision detection is performed joint by joint: for the predicted position of each joint. It iterates through all the collision objects of all devices and checks for interference.

[0184] Taking a spherical collision object, such as a camera unit, as an example:

[0185] Let the center of the camera unit be... , radius is The predicted joint location is The collision detection conditions are: ,in Let be the approximate radius of the joint, such as 3cm, representing the spatial extent occupied by the joint. If the above inequality is satisfied, a collision is determined to have occurred.

[0186] Taking a cuboid collision object, such as an electric testing platform, as an example:

[0187] Let the rectangular range of the testing platform be... The collision detection conditions are: and and If the conditions are met, a collision is determined to have occurred.

[0188] If a collision is detected, the predicted position needs to be corrected. The correction strategy involves pushing the position along the normal direction of the collision surface.

[0189] For spherical colliders: ,in For safety margin, such as 5mm.

[0190] For cuboid colliders:

[0191] Find the predicted location The point closest to the surface of the cuboid Calculate the penetration depth :

[0192] Along the normal direction of the nearest surface Push the joint out: .

[0193] Since the position correction of one joint may affect the distance constraints of adjacent joints, collision detection and distance constraint correction need to be performed alternately and iteratively until all constraints are satisfied or the maximum number of iterations is reached.

[0194] Corrected joint prediction position The control command generation process for the aforementioned camera unit, electric testing platform, and electric seat is used to replace the original predicted position. .

[0195] Generating collaborative control commands or pre-adjustment commands to control the movement of the camera unit, the electric seat, and the electric detection platform may lead to path conflict risks. Therefore, when conducting detection work on the integrated cabin of the Parkinson's disease and essential tremor detection cabin, the process also includes conflict detection of the movement paths of multiple devices, specifically including the following steps:

[0196] Step 1: Establish a three-dimensional space model of the cabin in the server, and mark the movement range of the electric seat assembly, electric detection platform and camera unit connection assembly as spatial regions respectively;

[0197] Step 2: Display the preset movement routes of each device in the form of route markers on the three-dimensional space model inside the cabin, and set the necessary area markers for each device;

[0198] Step 3: Based on the real-time determination of the patient's joint position and posture, dynamically adjust the motion path markings of each device;

[0199] Step 4: When adjusting the route marker of any device, detect in real time whether the route marker overlaps with the route markers of other devices. If there is spatial overlap, introduce a priority scheduling mechanism.

[0200] Step 5: After completing the route adjustment, send the route adjustment information to the operator.

[0201] In step 3, based on the real-time determination of the patient's joint posture, the motion path markers of each device are dynamically adjusted, including:

[0202] When it is determined that the patient is standing and their limbs are stiff and unable to bend their knees, the route markings of the electric seat are adjusted as follows: first, the seat is lowered to the lowest position, then it is moved to the position directly behind the patient, and finally the armrests are unfolded; at the same time, the route markings of the electric detection table are delayed, waiting for the seat to be in place signal.

[0203] When it is determined that the patient is seated but has stiff upper limbs and cannot raise their arms, the route markings of the electric detection table are adjusted so that the table is moved horizontally from the side of the patient to the front, instead of being pushed forward from the front; at the same time, the route markings of the camera unit are adjusted so that the target height is lowered, allowing the camera to shoot the upper limb joints from a lower angle.

[0204] When a patient is determined to be in a tremor attack, the movement speed of all equipment route markers is reduced by a preset ratio, and a follow mode is added to the camera unit route markers so that they can make periodic fine adjustments based on the patient's tremor frequency after reaching the target location.

[0205] The route adjustment information includes the adjusted route markings for each piece of equipment, the reason for the adjustment, and the expected execution time. Operators can confirm or further fine-tune the route through the display interface of the external controller.

[0206] Here, a specific embodiment of conflict detection of the movement paths of the camera unit, the electric seat assembly, and the electric detection platform is described.

[0207] A 3D spatial model of the cabin is created on the server, and the range of motion of the electric seat assembly, electric detection platform, and camera unit connection assembly are marked as spatial regions:

[0208] Seating Sport Area Linear guide travel range plus seat height adjustment range;

[0209] Testing table exercise area : Translation guide rail travel range;

[0210] Camera unit motion area : Lifting guide rail travel range plus camera connection bracket swing range.

[0211] On the map of the 3D space model inside the cabin, the preset movement routes of each device are displayed in the form of route markers:

[0212] Seat route markings The movement path from the storage location to the testing station;

[0213] Inspection station route markings The movement path from the initial position to the workstation in front of the patient;

[0214] Camera unit route marking The lifting path of each camera unit from its initial height to its target height.

[0215] Set mandatory area markers:

[0216] The area that the seat must pass through: the spatial location area of ​​the patient's hip and knee joints in a sitting position;

[0217] The necessary area for the testing station: the spatial position area of ​​the patient's wrist joint in the testing posture;

[0218] The necessary area for the camera unit: the optimal shooting angle area for each joint in the detection posture.

[0219] The server dynamically adjusts the motion path of each device based on the real-time determination of the patient's joint posture.

[0220] When the patient is determined to be standing and their limbs are stiff and unable to bend their knees: Seating route markings Adjustments are made as follows: First, lower the chair to its lowest position; then, move it directly behind the patient; finally, unfold the armrests; route markings on the testing table. Execution is delayed, awaiting the signal that the seat is in place.

[0221] When it is determined that the patient is seated but their upper limbs are stiff and unable to raise their arms: Inspection table route markings Adjustments were made: the table was moved horizontally from the patient's side to the front, instead of being pushed in directly in front, to avoid interference with the patient's upper limbs; camera unit route markings. Adjusted to: Lower the target height so that the camera can shoot the upper limb joints from a lower angle.

[0222] When a patient is determined to be in a tremor attack: the movement speed of all equipment route markers is reduced by 50% to avoid startling the patient with rapid movement; the camera unit route markers are given a follow mode: after reaching the target location, they are periodically fine-tuned according to the patient's tremor frequency.

[0223] When adjusting the route markers of any device, the server detects in real time whether the route markers overlap with the route markers of other devices: if the seat route markers... Route markings for the testing station If there is spatial overlap in the time dimension, priority scheduling is introduced: the seat is positioned first, and the detection platform waits for the seat to be in place before proceeding. If the camera unit route is marked... Seat route markings If spatial interference exists, the timing of the camera unit's lifting and lowering will be adjusted to avoid the time window of seat movement.

[0224] After the server completes the route adjustment, it sends route adjustment information to the operator, including: the adjusted route markings for each device; the reason for the adjustment, such as "the patient's upper limbs are stiff, and the testing station route has been changed to side entry"; and the expected execution time.

[0225] Operators can confirm or further fine-tune the route through the display interface of the external controller.

[0226] An integrated cabin for detecting Parkinson's disease and essential tremor employs a cabling architecture combining physical layering and metal shielding compartments. The cabling trough is physically divided into strong and weak current cabling chambers. The inner wall of the weak current cabling chamber is coated with a nickel-based conductive paint to form an additional electromagnetic shielding layer, and communication cables with independent metal braided shielding layers are laid there. Combined with 360° ring-shaped grounding at the cable entry point, the entire cabling trough forms a continuous Faraday cage shielded cavity, achieving full-area electromagnetic shielding. This effectively avoids electromagnetic interference caused by mixed strong and weak current cabling, ensuring the stability of precision sensing and imaging equipment during operation. Simultaneously, multiple camera units, triggered by a synchronization controller, achieve frame-level synchronous acquisition of multi-view video streams with a unified time reference, significantly improving the data accuracy of motion capture and tremor feature extraction.

[0227] The electrically powered seat assembly, electrically powered testing platform, and multiple camera units deployed inside the cabin form a closed-loop collaborative control system. The server, combining the height data of the person being tested, calculates the target height for each camera unit and device, and automatically sends commands to drive the lifting guide rail and motor to move to the preset testing position. Furthermore, the seat assembly employs a multi-tooth ratchet locking and cam-linkage linkage mechanism, automatically rotating, unfolding, and locking the armrests during seat movement. This perfectly addresses the limb stiffness and mobility limitations faced by patients with Parkinson's disease and essential tremor, providing a humane testing experience.

[0228] To address the issue of high-frequency misjudgment of joint resting / movement states caused by the typical 4-6 Hz resting tremor in Parkinson's disease, an emergency mode is automatically activated when the effective tremor count exceeds a preset threshold. In emergency mode, the duration threshold is dynamically shortened to accelerate response, the pose threshold is amplified to avoid misjudgment, and low-pass filtering is applied to collaborative control commands. This effectively filters out pose data fluctuations caused by high-frequency tremors, ensuring smooth issuance of drive commands and stable equipment operation.

[0229] The patient's limbs are abstracted as a joint chain structure. Spectral analysis is used to extract the dominant tremor frequency and stiffness index, and a mathematical mapping relationship is constructed between driving intensity and predicted amplitude, wavelength, and velocity. Simultaneously, a sinusoidal function model is used to calculate the predicted joint position offset in real time, generating pre-adjustment commands to compensate for minor positional changes in the equipment within the chamber. Combined with collision interference detection and route priority scheduling based on the 3D spatial model within the chamber, the risks of route conflicts and spatial interference during concurrent movement of multiple devices are effectively mitigated, achieving ultimate safety and active equipment avoidance in complex detection scenarios.

[0230] The above description illustrates preferred embodiments of the present invention and helps those skilled in the art to more fully understand the technical solution of the present invention. However, these embodiments are merely illustrative and should not be construed as limiting the specific implementation of the present invention to these embodiments. For those skilled in the art, several simple deductions and modifications can be made without departing from the inventive concept, and all such modifications should be considered within the protection scope of the present invention.

Claims

1. An integrated cabin for detecting Parkinson's disease and essential tremor, characterized in that, include: A cabin for providing a standardized, enclosed testing space, the cabin comprising an overall frame and cabin wall panels fixed to the overall frame; The internal device of the cabin is installed inside the cabin and is used to automatically adjust the position and posture of the object being tested and simultaneously collect multimodal detection data; the internal device of the cabin includes at least: an electric seat assembly and an electric detection platform that are controlled to move, an electronic weighing scale assembly embedded in the bottom of the cabin, and a camera unit installed inside the cabin and whose position is controlled to be adjusted. An external control and drive system is independently deployed outside the cabin and includes a split-type equipment cabinet and an electrical cabinet. The interior of the split-type equipment cabinet is divided into layers by insulating steel plates and contains a server and a synchronization controller for receiving and processing detection data and coordinating the operation of the devices inside the cabin. The electrical cabinet is electrically connected to the devices inside the cabin to provide control logic and drive power. The cabin wiring structure is used to achieve strong and weak current isolation and communication between the internal devices of the cabin and the external control and drive system; the cabin wiring structure includes a wiring trough laid below the cabin; the wiring trough is provided with a partition to physically divide the trough cavity into a strong current wiring cavity and a weak current wiring cavity; wherein, the weak current signal cables connecting the camera unit and the sensing device are laid in the weak current wiring cavity that has undergone electromagnetic shielding treatment to form a continuous shielded cavity.

2. The integrated cabin of the Parkinson's disease and essential tremor detection cabin according to claim 1, characterized in that, The camera unit includes multiple camera devices, one of which is mounted on the top of the extension section formed by the outward extension of the door pivot axis, and the remaining camera devices are respectively arranged on the top, front and left and right side walls inside the cabin; the camera devices on the inner side walls of the cabin are respectively arranged in the upper and lower sections of the corresponding side walls.

3. The integrated cabin of the Parkinson's disease and essential tremor detection chamber according to claim 2, characterized in that, The internal device of the cabin also includes a camera unit connection assembly for driving the camera unit to perform vertical displacement; the camera unit connection assembly includes a guide rail connection plate fixed to the cabin wall panel, a lifting guide rail mechanism installed on the guide rail connection plate, and a camera connection bracket; the camera equipment is fixed on the camera connection bracket and is controlled to move up and down along the lifting guide rail mechanism.

4. The integrated cabin of the Parkinson's disease and essential tremor detection cabin according to claim 1, characterized in that, The electric seat assembly includes a seat body, a seat movement guide rail arranged in the rear to middle area of ​​the cabin, and a slider fixed to the bottom of the seat body; the slider is slidably engaged above the seat movement guide rail and moves linearly back and forth under the drive of the seat movement motor; a seat height adjustment motor for adjusting the height is fixed below the seat body.

5. The integrated cabin of the Parkinson's disease and essential tremor detection cabin according to claim 4, characterized in that, The electric seat assembly also includes an armrest unfolding and retracting mechanism, which includes a multi-tooth ratchet locking mechanism disposed at the rotatable connection of the armrest of the seat body, and a cam mechanism; the cam mechanism is hinged to the slider via a connecting rod. As the electric seat assembly slides forward along the seat movement guide rail, the slider pushes the cam mechanism via the connecting rod, driving the armrest to unfold around the pivot, and the multi-tooth ratchet locking mechanism automatically engages and locks it; when the electric seat assembly slides backward, the slider pulls the cam mechanism in the opposite direction, causing the armrest to rotate back to the storage position.

6. The integrated cabin of the Parkinson's disease and essential tremor detection cabin according to claim 1, characterized in that, The electric testing table includes a table body, a support mechanism, and testing table moving guide rails symmetrically installed on both sides of the cabin; the translation slider fixed to the bottom of the support mechanism slides in cooperation with the testing table moving guide rails and moves linearly back and forth under the drive of the testing table moving motor.

7. The integrated cabin of the Parkinson's disease and essential tremor detection chamber according to claim 1, characterized in that, The inner wall of the low-voltage wiring cavity in the cabin wiring structure is sprayed with nickel-based conductive coating to form an additional electromagnetic shielding layer; the low-voltage signal cables laid in the low-voltage wiring cavity are communication cables with independent metal braided shielding layers; the metal braided shielding layer is grounded in a 360° ring at the inlet end of the wiring trough, so that the wiring trough as a whole constitutes a continuous Faraday cage shielding cavity; the minimum distance between the high-voltage wiring cavity and the low-voltage wiring cavity is not less than 50mm.

8. The integrated cabin of the Parkinson's disease and essential tremor detection cabin according to claim 1, characterized in that, The upper area of ​​the split-type equipment rack is equipped with the server and the synchronization controller, while the lower area is equipped with the power distribution box and UPS power supply. The front area of ​​the split-type equipment rack is set as the equipment operation and low-voltage wiring area, and the rear area is set as the high-voltage wiring and main cable routing area, so as to achieve physical and electromagnetic dual isolation between high-voltage and low-voltage equipment.

9. The integrated cabin of the Parkinson's disease and essential tremor detection chamber according to claim 1, characterized in that, The server determines the required execution posture for the current target detection condition and transmits the condition prompt information to the display terminal. The display terminal outputs the current detection condition, detection requirements, and standard action demonstration screen in real time. If the current detection condition is a seated detection, the target height value of the camera unit is calculated based on the height data of the object being tested, and a position adjustment command is issued to drive the camera unit to the preset target position. Furthermore, the server is configured to issue a start command during the detection process to drive the electric seat assembly and the electric detection platform to move to the preset detection station, and automatically adjust the height of the chair surface and the table based on the height data. If the current testing condition is standing posture testing, a position adjustment command is issued to drive the electric testing platform to move and retract to the initial position. After it is determined that the subject maintains a stable standing posture, the electric seat assembly is driven to move and retract to the initial position.

10. The integrated cabin of the Parkinson's disease and essential tremor detection cabin according to claim 1, characterized in that, When performing testing in the integrated cabin of the Parkinson's disease and essential tremor detection chamber, the server includes generating coordinated control commands for the camera unit, electric seat, and electric testing platform, specifically including the following steps: Step 1: Before starting the detection scenario, determine the execution pose required for the current target detection condition; If the working condition requires sitting posture detection, drive the electric seat assembly to move to the designated work station, and automatically adjust the seat height according to the height parameters of the person being tested; After the test subject sits down, the electric testing platform is driven to move to the corresponding work station and the platform height is adaptively adjusted to match the test subject's height. If the working condition requires standing posture detection, drive the electric detection platform to move and store it in the initial position. After determining that the subject is maintaining a stable standing posture, drive the electric seat assembly to move and store it in the initial position. Step two: Multiple camera units deployed in the testing chamber synchronously collect multi-view video streams of the patient using a unified time reference; Step 3: Extract the three-dimensional spatial position data of each major joint of the patient in each frame from the multi-view video stream to form a joint pose time series. Step 4: For each joint, determine the adjacent decision time based on the unified time reference, obtain the pose data of the joint at the adjacent decision time, and calculate the pose change. Step 5: If the change in pose is less than or equal to a preset pose threshold, and the duration from when the joint enters the suspected stationary state to the current determination time is greater than a preset duration threshold, then the joint is determined to be in a stationary instantaneous state at the current determination time. Step 6: If the change in pose is greater than the pose threshold, then the joint is determined to be in motion, and the current determination time is marked as the start time of the next static continuous state of the joint. Step 7: Based on the real-time status determination results of each joint, generate coordinated control commands for the camera unit, electric seat, and electric testing platform.

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