A wearable sensor-based dynamic scapulohumeral rhythm quantification system and method

Abstract

The present application relates to a kind of dynamic shoulder humeral rhythm quantification system and method based on wearable sensing, wherein the system includes: inertia data acquisition unit, for obtaining the first inertia data of the arm of rehabilitation object arrangement, and the second inertia data of scapular region;Angle solving unit is used for the posture solving of two kinds of inertia data, obtain the humeral elevation angle and scapular rotation angle in gravity reference system;Rhythm calculation unit is used for registering scapular rotation angle according to humeral elevation angle and calculating shoulder humeral rhythm quantification index;Reliability processing unit is used for marking and / or weight reduction according to the relationship between the humeral elevation angle and the preset measurement interval, to obtain reliability identification;Output unit is used for outputting shoulder humeral rhythm quantification result and reliability identification.The present application can realize shoulder humeral rhythm home quantification by wearable device, and give consideration to monitoring accessibility and result reliability, which can provide objective reference for rehabilitation quality evaluation.

Description

Technical Field

[0001] This invention relates to the field of wearable motion monitoring technology, and in particular to a dynamic scaphoid rhythm quantification system and method based on wearable sensing. Background Technology

[0002] Scapulothorax rhythm refers to the coordinated relationship between scapular rotation and humeral elevation during upper limb elevation, and is one of the key objective indicators for evaluating shoulder joint function and rehabilitation quality. Traditionally, the quantification of scapulothorax rhythm requires imaging examinations or optical motion capture systems. These methods are expensive, require professional operation in specific locations, and cannot be used for continuous monitoring in home rehabilitation.

[0003] Using image pose estimation alone to quantify scapular rhythm in home scenarios has the following problems: when the humeral elevation angle is high, the scapular region is occluded by the upper limb or clothing (self-occlusion), and the soft tissue in the scapular region undergoes large displacement and deformation at high elevation angles (soft tissue artifacts), which leads to a significant decrease in the reliability of image estimation of scapular rotation angle.

[0004] The inventors of this application discovered that in the early postoperative period, patients undergoing rehabilitation after rotator cuff repair typically have upper limb range of motion limited to 90° to 120° (representative value of the early postoperative limitation range). This limitation range falls precisely within a window where soft tissue artifacts are minimal, the scapular region is less likely to be obscured, and therefore measurements are most reliable. This scenario characteristic makes scapular rhythm quantification using wearable sensors primarily within the reliable range of the early postoperative period both feasible and reliable. Existing technologies fail to utilize the aforementioned scenario characteristics of the reliable range in the early postoperative period and lack mechanisms for labeling or downweighting data segments exceeding the reliable range, thus making it difficult to provide reliable scapular rhythm quantification results with reliability indicators in home settings. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a dynamic scaphoid rhythm quantification system and method based on wearable sensing, which can output scaphoid rhythm quantification results with reliability labels in the early postoperative reliable range for reference in rehabilitation quality assessment.

[0006] The technical solution adopted by this invention to solve its technical problem is: to provide a dynamic scaphoid rhythm quantification system based on wearable sensing, comprising:

[0007] An inertial data acquisition unit is used to acquire first inertial data collected by a first inertial unit arranged on the upper arm of the rehabilitation subject, and second inertial data collected by a second inertial unit arranged in the scapular region of the rehabilitation subject.

[0008] An angle calculation unit is used to perform attitude calculations on the first inertial data and the second inertial data to obtain the humeral elevation angle and scapular rotation angle in the gravity reference frame;

[0009] The rhythm calculation unit is used to register the scapular rotation angle with the humeral elevation angle and calculate the scapular rhythm quantification index.

[0010] The reliability processing unit is used to mark and / or deweight the scaphoid rhythm quantification index according to the relationship between the humeral elevation angle and the preset measurement interval to obtain a reliability identifier;

[0011] The output unit is used to output the scapulohumeral rhythm quantification result composed of the scapulohumeral rhythm quantification index and the reliability identifier.

[0012] The wearable sensing-based dynamic scapular rhythm quantification system further includes: an image acquisition unit for acquiring image posture data; the rhythm calculation unit is also used to provide image-assisted correction of the scapular rotation angle based on the image posture data when the humeral elevation angle exceeds the preset measurement range.

[0013] The preset measurement range corresponds to the range of limited activity in the early postoperative period of the rehabilitation subject.

[0014] The quantitative index of scapulohumeral rhythm includes at least one of the scapulohumeral ratio and the segmented slope. The scapulohumeral ratio is the ratio of the change in humeral elevation angle to the change in scapular rotation angle. The segmented slope is the ratio of the change in scapular rotation angle to the change in humeral elevation angle within a segment.

[0015] The rhythm calculation unit includes:

[0016] The registration subunit is used to resample the scapular rotation angle with the humeral elevation angle as the independent variable, so that the two correspond on the same humeral elevation angle scale;

[0017] The segmented subunit is used to segment the preset measurement interval according to the humeral elevation angle with a set angular step size;

[0018] The calculation subunit is used to calculate the scaphoid rhythm quantification index in each segment.

[0019] The rhythm calculation unit also includes:

[0020] The overall calculation subunit is used to calculate the overall shoulder-humper ratio over the preset measurement interval.

[0021] The weighting calculation method for the reliability processing unit when downweighting the scapulohumeral rhythm quantification index is as follows: , As weight, For the humeral elevation angle, This is the upper limit of the preset measurement range. To reduce the weighted span, This indicates that the value is limited to .

[0022] The rhythm calculation unit is also used to perform time trend statistics on the scapulohumeral rhythm quantification index obtained from multiple measurements, and the output unit outputs the change results of the scapulohumeral rhythm quantification index with the rehabilitation process.

[0023] The technical solution adopted by this invention to solve its technical problem is: to provide a method for dynamic scaphoid rhythm quantification based on wearable sensing, comprising the following steps:

[0024] Acquire first inertial data collected by a first inertial unit arranged on the upper arm of the rehabilitation subject, and second inertial data collected by a second inertial unit arranged in the scapular region of the rehabilitation subject;

[0025] The humeral elevation angle and scapular rotation angle in the gravity reference frame are obtained by performing attitude calculations on the first inertial data and the second inertial data respectively.

[0026] The scapular rotation angle is registered with the humeral elevation angle, and the scapular rhythm quantification index is calculated.

[0027] When the humeral elevation angle exceeds the preset measurement range, the scapulohumeral rhythm quantification index is marked and / or downweighted to obtain a reliability identifier;

[0028] Output the scaphoid rhythm quantification result composed of the scaphoid rhythm quantification index and the reliability identifier.

[0029] The aforementioned method for dynamic scaphoid rhythm quantification based on wearable sensing also includes:

[0030] Acquire image pose data; when the humeral elevation angle exceeds the preset measurement range, provide image-assisted correction for the scapular rotation angle based on the image pose data.

[0031] The preset measurement range corresponds to the range of limited activity in the early postoperative period of the rehabilitation subject.

[0032] The process of registering the scapular rotation angle with the humeral elevation angle and calculating the scapular rhythm quantification index specifically includes:

[0033] The scapular rotation angle is resampled using the humeral elevation angle as the independent variable so that the two correspond on the same humeral elevation angle scale;

[0034] The preset measurement interval is segmented according to the humeral elevation angle using a set angular step size;

[0035] The scaphoid rhythm quantification index is calculated separately for each segment.

[0036] The weight calculation method for labeling and / or downweighting the scaphoid rhythm quantification index is as follows: , As weight, For the humeral elevation angle, This is the upper limit of the preset measurement range. To reduce the weighted span, This indicates that the value is limited to .

[0037] The technical solution adopted by the present invention to solve its technical problem is: to provide a computer-readable storage medium on which a computer program is stored, wherein when the computer program is executed by a processor, the steps of the above-mentioned dynamic scaphoid rhythm quantification method based on wearable sensing are implemented.

[0038] Beneficial effects

[0039] By employing the aforementioned technical solutions, this invention offers the following advantages and positive effects compared to existing technologies: This invention collects motion data and calculates corresponding angles using wearable inertial sensors at two locations: the upper arm and the scapula / trunk. This brings the measurement of scapular rhythm, previously reliant on imaging or optical motion capture, to wearable devices, supporting continuous dynamic monitoring in home settings and significantly improving monitoring accessibility. This invention uses the humeral elevation angle as a reference to register the scapular rotation angle, eliminating the interference of movement rate differences on rhythm calculation and ensuring the stability and comparability of rhythm quantification indicators. This invention marks or downweights data exceeding the preset measurement range and adds a reliability label, avoiding interference from soft tissue artifacts at high elevation angles, clearly defining the reliability levels of the results, and providing a stratified and reliable objective quantitative basis for rehabilitation quality assessment. Attached Figure Description

[0040] Figure 1 This is a structural block diagram of the dynamic scaphoid rhythm quantification system based on wearable sensing according to the first embodiment of the present invention;

[0041] Figure 2 This is a schematic diagram of the arrangement of each inertial unit in the first embodiment of the present invention;

[0042] Figure 3 This is a schematic diagram of the scaphoid rhythm curve and its segmented slope in the first embodiment of the present invention;

[0043] Figure 4 This is a flowchart of the second embodiment of the present invention, which is a dynamic scaphoid rhythm quantification method based on wearable sensing.

[0044] Figure 5 This is a schematic diagram of the reliable measurement interval and the super-interval marking / reduction in the second embodiment of the present invention. Detailed Implementation

[0045] The present invention will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent forms also fall within the scope defined by the appended claims.

[0046] The first embodiment of the present invention relates to a dynamic scaphoid rhythm quantification system based on wearable sensing, comprising an inertial data acquisition unit 100, an angle calculation unit 200, a rhythm calculation unit 300, a reliability processing unit 400, and an output unit 500, and optionally further comprising an image acquisition unit 150. Each unit can be implemented as a functional module running on a terminal or cloud processor, or as an application-specific integrated circuit; data is transmitted between the units via wired or wireless means.

[0047] The inertial data acquisition unit 100 is used to acquire data collected by the first inertial unit and the second inertial unit. For example... Figure 2 As shown, the first inertial unit is positioned on the upper arm of the rehabilitation subject (in the example, the middle of the outer side of the upper arm) to collect first inertial data; the second inertial unit is positioned in the scapular region of the rehabilitation subject (in the example, the scapular spine) to collect second inertial data. Both the first and second inertial units include a three-axis accelerometer and a three-axis gyroscope, and optionally also include a three-axis magnetometer; the two inertial units are time-synchronized, and the sampling rate can be 100 Hz. Optionally, the image acquisition unit 150 can be a terminal camera, acquiring images at 30 fps and obtaining image attitude data through attitude estimation.

[0048] The angle calculation unit 200 is used to perform attitude calculation on the first inertial data to obtain the attitude of the humerus relative to the gravity reference frame, and extract the angle between the longitudinal axis of the humerus and the vertical direction as the humeral elevation angle from the attitude. The attitude is calculated from the second inertial data to obtain the attitude of the scapula relative to the torso or gravity reference frame. The upper rotation component of the scapula about the sagittal axis is then extracted from this attitude as the scapular rotation angle. Attitude calculation can be performed using Madgwick gradient descent quaternion attitude calculation, with a filter gain β≈0.033 (attitude calculation algorithm and parameter representative value). The rotation matrix of the body segment coordinate system relative to the reference system is calculated from the obtained quaternion q, and then the humeral elevation angle is extracted according to the above definition. With scapular rotation angle It is worth mentioning that attitude calculation can also be achieved using complementary filtering or extended Kalman filtering.

[0049] The rhythm calculation unit 300 is used to register the scapular rotation angle with the humeral elevation angle and calculate the scapular rhythm quantification index. In this embodiment, a preset measurement interval is set as a reliable interval, which can be set to the humeral elevation angle not exceeding a threshold. That is, the preset measurement interval is The upper limit of this preset measurement range. Corresponding to the range of limited activity in the early postoperative period, for example, 120° can be taken (the upper limit of the reliable range, consistent with the upper limit of the effective measurement of the scapular region sensor). Alternatively, values ​​can be taken within the range of 90° to 120° according to the individual circumstances of the rehabilitation subject.

[0050] The rhythm calculation unit 300 in this embodiment includes:

[0051] The registration subunit is used to resample the scapular rotation angle with the humeral elevation angle as the independent variable, so that the two correspond on the same humeral elevation angle scale; in this embodiment, the original inertial data is a discrete sequence sampled over time. To express the scapular rotation angle as a function of the humeral elevation angle, the rhythm calculation unit 300 performs a calculation during the elevation phase ( Within a monotonically increasing phase, with the humeral elevation angle as the independent variable, and according to the resampling step size... Establish equidistant scales , The representative value is 5° (resampled step size representative value). For each scale... Take two adjacent sampling points , satisfy The scapular rotation angle at this scale point is obtained by linear interpolation as follows:

[0052]

[0053] This yields an isometric sequence of the scapular rotation angle as a function of the humeral elevation angle. This ensures a one-to-one correspondence between the humeral elevation angle and the scapular rotation angle on the same humeral elevation angle scale. The descent phase can be treated separately or excluded. Alternatively, spline interpolation can be used.

[0054] The segmented subunit is used to segment the preset measurement interval according to the humeral elevation angle with a set angular step size; in this embodiment, the preset measurement interval is... According to the set angle step size Divided into several segments, The representative value is 30°, which means it is divided into segments such as 0–30°, 30–60°, 60–90°, and 90–120°.

[0055] The calculation subunit is used to calculate the scaphoid rhythm quantification index for each segment. In this embodiment, the scaphoid rhythm quantification index can be the scaphoid ratio of the segment, the segment slope, or both the scaphoid ratio and the segment slope. Specifically, for the m-th segment... shoulder-humper ratio The ratio of the change in humeral elevation angle to the change in scapular rotation angle within this segment is calculated as follows:

[0056] ;

[0057] The m-th segment The slope of the curve is the change of scapular rotation angle with humeral elevation angle ( Figure 3 The slope within this segment, i.e., the ratio of the change in scapular rotation angle to the change in humeral elevation angle, is calculated as follows:

[0058] ;

[0059] The rhythm calculation unit 300 in this embodiment may further include: an overall calculation subunit, used to calculate the overall scapulohumeral ratio over the preset measurement interval. The overall shoulder-to-humer ratio is calculated as follows: ,in, and The humeral elevation angles are respectively: And the scapular rotation angle corresponding to 0°. For reference, the overall scapulohumeral ratio of a healthy shoulder joint in the entire elevation arc is approximately 2:1 (reference value for the overall scapulohumeral ratio of a healthy person, i.e., the ratio of the contribution of the glenohumeral joint to the scapulothoracic joint). The segmented scapulohumeral ratio of postoperative rehabilitation subjects and its changes with the rehabilitation process can be compared with this reference value and the individual healthy side baseline to assess the recovery of scapulohumeral synergy.

[0060] In this embodiment, the reliability processing unit 400 is used to mark and / or deweight the scaphoid rhythm quantification index when the humeral elevation angle exceeds a preset measurement range, thereby obtaining a reliability identifier. In this embodiment, when the humeral elevation angle exceeds the preset measurement range, the weight is determined based on the humeral elevation angle (the degree to which the humeral elevation angle exceeds the upper limit of the preset measurement range corresponds to the degree of soft tissue artifacts). When the humeral elevation angle does not exceed... At that time, weight When the humeral elevation angle exceeds At that time, weight With the excess in the weighted span Internal linear descent, i.e.:

[0061]

[0062] Among them, the weighted span A value of 50° can be used (i.e., for every 10° the humeral elevation angle exceeds the upper limit, the weighting factor is reduced by 0.2; if it exceeds 50°, it is reduced to 0). This indicates that the value is limited to Accordingly, the reliability processing unit 400 performs the following according to weights. The scaphoid rhythm quantification index for this data segment is downweighted, and a reliability label is added to this segment: Data segments marked as "reliable degraded" are weighted. Data segments marked as "unreliable, for informational purposes only" will have their reliability indicated in the output.

[0063] It is worth mentioning that the rhythm calculation unit in this embodiment is also used to provide image-assisted correction of the scapular rotation angle based on the image posture data obtained by the image acquisition unit when the humeral elevation angle exceeds the preset measurement range, so as to restore the usability of the high elevation angle range to a certain extent. In this way, the scapular rhythm quantification index can be calculated based on the corrected scapular rotation angle. During the correction, the scapular suprarotation component can be estimated from the displacement of key points such as the acromion and scapular spine in the image posture data. In the high elevation angle range, it is fused with the scapular rotation angle calculated by inertia according to their respective confidence levels to obtain the corrected scapular rotation angle.

[0064] In this embodiment, the output unit 500 is used to output the scapulothorax rhythm quantification results composed of the scapulothorax rhythm quantification indicators and the reliability identifier. It should be noted that the rhythm calculation unit 300 in this embodiment can perform time trend statistics on the scapulothorax rhythm quantification indicators obtained from multiple measurements. Thus, the output unit 500 can output the changes in the scapulothorax rhythm quantification indicators as the rehabilitation process progresses (e.g., by week), and use these changes to reflect the recovery trend of scapulothorax synergy after the immobilization period. The scapulothorax rhythm quantification results output in this embodiment are for rehabilitation quality assessment reference only and are not directly used as a basis for diagnosis or treatment.

[0065] The second embodiment of the present invention relates to a method for quantifying dynamic scaphoid rhythm based on wearable sensing, such as... Figure 4 As shown, it includes the following steps:

[0066] Step S1: Acquire first inertial data collected by a first inertial unit arranged on the upper arm of the rehabilitation subject, and second inertial data collected by a second inertial unit arranged in the scapular region of the rehabilitation subject;

[0067] Step S2: Perform attitude calculations on the first inertial data and the second inertial data to obtain the humeral elevation angle and scapular rotation angle in the gravity reference frame;

[0068] Step S3: For data where the humeral elevation angle does not exceed the preset measurement range, register the scapular rotation angle with the humeral elevation angle and calculate the scapular rhythm quantification index, as follows:

[0069] First, the humeral elevation angle and scapular rotation angle are registered. To express the scapular rotation angle as a function of the humeral elevation angle, during the elevation phase (… Within a monotonically increasing phase, with the humeral elevation angle as the independent variable, and according to the resampling step size... Establish equidistant scales , The representative value is 5° (resampled step size representative value). For each scale... Take two adjacent sampling points , satisfy The scapular rotation angle at this scale point is obtained by linear interpolation as follows:

[0070]

[0071] This yields an isometric sequence of the scapular rotation angle as a function of the humeral elevation angle. This ensures that the humeral elevation angle and the scapular rotation angle correspond one-to-one on the same humeral elevation angle scale.

[0072] Then, the preset measurement interval is... According to the set angle step size Divided into several segments, The representative value is 30°, meaning it is divided into segments such as 0–30°, 30–60°, 60–90°, and 90–120°. The scaphoid rhythm quantification index is calculated within each segment. In this embodiment, the scaphoid rhythm quantification index can be the scaphoid ratio of the segment, the segment slope, or both. Specifically, for the m-th segment... shoulder-humper ratio The ratio of the change in humeral elevation angle to the change in scapular rotation angle within this segment is calculated as follows:

[0073] ;

[0074] The m-th segment The slope of the curve is the change of scapular rotation angle with humeral elevation angle ( Figure 3 The slope within this segment, i.e., the ratio of the change in scapular rotation angle to the change in humeral elevation angle, is calculated as follows:

[0075] .

[0076] This embodiment can also calculate the overall shoulder-humper ratio over the preset measurement interval. The overall shoulder-to-humer ratio is calculated as follows: ,in, and The humeral elevation angles are respectively: And the scapular rotation angle corresponding to 0°. For reference, the overall scapulohumeral ratio of a healthy shoulder joint in the entire elevation arc is approximately 2:1 (reference value for the overall scapulohumeral ratio of a healthy person, i.e., the ratio of the contribution of the glenohumeral joint to the scapulothoracic joint). The segmented scapulohumeral ratio of postoperative rehabilitation subjects and its changes with the rehabilitation process can be compared with this reference value and the individual healthy side baseline to assess the recovery of scapulohumeral synergy.

[0077] To illustrate the reproducibility of the above calculations, this embodiment provides a set of numerical examples. The upper limit of the reliability interval is taken. =120°, segmented step size =30°, resampling step size =5°. Suppose that after attitude calculation and resampling, the relationship between the scapular rotation angle and the humeral elevation angle in a certain elevation measurement is shown in the table below (example data, unit: degrees):

[0078] （°） 0 10 25 42 → 60

[0079] Substituting the data from the table above into the segmented scaphoid-humeral ratio calculation formula, the scaphoid-humeral ratios for each segment are calculated as follows:

[0080] Segment 1 [0°, 30°]: ;

[0081] Section 2 [30°, 60°]: ;

[0082] Section 3 [60°, 90°]: ;

[0083] Section 4 [90°, 120°]: .

[0084] Correspondingly, according to the definition of piecewise slope ( The slopes of each segment are approximately 0.33, 0.50, 0.57, and 0.60, respectively. According to the overall shoulder-humper ratio definition... The ratio is on the same order of magnitude as the healthy reference value of 2:1. The pattern presented in this example (higher scapuhumeral ratio in the early segment, gradually decreasing as the humeral elevation angle increases) reflects the scapuhumeral synergy characteristic in the early stage of elevation, where the glenohumeral joint contributes mainly and the scapothoracic joint gradually participates. Postoperative rehabilitation subjects can compare the scapuhumeral ratio of each segment with the baseline of the healthy side or the above reference value to assess the recovery.

[0085] Step S4: When the humeral elevation angle exceeds the preset measurement range, the scaphoid rhythm quantification index is marked and / or downweighted to obtain a reliability identifier. In one example, the weight is determined based on the degree of soft tissue artifacts corresponding to the data segment (characterized by the degree to which the elevation angle exceeds the upper limit). ,like Figure 5 As shown, the determination method is as follows: the humeral elevation angle does not exceed the weight. When the humeral elevation angle exceeds At that time, weight With the excess in the weighted span Internal linear descent, i.e.:

[0086] .

[0087] Among them, the weighted span A value of 50° can be used (i.e., for every 10° the humeral elevation angle exceeds the upper limit, the weighting factor is reduced by 0.2; if it exceeds 50°, it is reduced to 0). This indicates that the value is limited to Therefore, it can be weighted. The scaphoid rhythm quantification index for this data segment is downweighted, and a reliability label is added to this segment: Data segments marked as "reliable degraded" are weighted. Data segments marked as "unreliable, for reference only" will have their reliability indicated in the output. As an example of out-of-range numerical calculations: if the rise angle of a data segment reaches 140° (exceeding the upper limit of 20°), then... The quantitative indicator in this segment is weighted at 0.60 and includes a reliability label; if it reaches 170° (exceeding the upper limit of 50°), the weight #imgpt105#=0, and the segment is marked as unreliable and not included.

[0088] In this embodiment, when the humeral elevation angle exceeds the reliable measurement range, image posture data can be acquired and used to perform image-assisted correction on the scapular rotation angle, so as to restore the usability of the high elevation angle range to a certain extent.

[0089] Step S5: Output the scapulothorax rhythm quantification result composed of the scapulothorax rhythm quantification index and the reliability identifier. It should be noted that this embodiment can perform time trend statistics on the scapulothorax rhythm quantification index obtained from multiple measurements. At this time, the change results of the scapulothorax rhythm quantification index with the rehabilitation process (such as by week) can be output to reflect the recovery trend of scapulothorax synergy after the immobilization period.

[0090] It is easy to see that this invention collects motion data and calculates corresponding angles using wearable inertial sensors at the upper arm and scapula / trunk, thus bringing the measurement of scapulohumeral rhythm, which previously relied on imaging or optical motion capture, to wearable devices. This supports continuous dynamic monitoring in home settings and significantly improves monitoring accessibility. This invention uses the humeral elevation angle as a reference to register the scapular rotation angle, eliminating the interference of movement rate differences on rhythm calculation and ensuring the stability and comparability of rhythm quantification indicators. This invention marks or downweights data exceeding the preset measurement range and attaches a reliability label, avoiding interference from soft tissue artifacts at high elevation angles, clearly defining the reliability levels of the results, and providing a stratified, reliable, and objective quantitative basis for rehabilitation quality assessment.

[0091] The third embodiment of the present invention relates to a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the second embodiment of the dynamic scaphoid rhythm quantification method based on wearable sensing.

[0092] The fourth embodiment of the present invention relates to an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the dynamic scaphoid rhythm quantification method based on wearable sensing of the second embodiment.

[0093] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0094] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0095] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction methods implemented in a process. Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0096] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0097] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A dynamic scaphoid rhythm quantification system based on wearable sensing, characterized in that, include: An inertial data acquisition unit is used to acquire first inertial data collected by a first inertial unit arranged on the upper arm of the rehabilitation subject, and second inertial data collected by a second inertial unit arranged in the scapular region of the rehabilitation subject. An angle calculation unit is used to perform attitude calculations on the first inertial data and the second inertial data to obtain the humeral elevation angle and scapular rotation angle in the gravity reference frame, respectively. The rhythm calculation unit is used to register the scapular rotation angle with the humeral elevation angle and calculate the scapular rhythm quantification index. The reliability processing unit is used to mark and / or deweight the scaphoid rhythm quantification index according to the relationship between the humeral elevation angle and the preset measurement interval to obtain a reliability identifier; The output unit is used to output the scapulohumeral rhythm quantification result composed of the scapulohumeral rhythm quantification index and the reliability identifier.

2. The dynamic scaphoid rhythm quantification system based on wearable sensing according to claim 1, characterized in that, Also includes: The image acquisition unit is used to acquire image posture data; the rhythm calculation unit is also used to provide image-assisted correction of the scapular rotation angle based on the image posture data when the humeral elevation angle exceeds the preset measurement range.

3. The dynamic scaphoid rhythm quantification system based on wearable sensing according to claim 1, characterized in that, The preset measurement range corresponds to the range of limited activity in the early postoperative period of the rehabilitation subject.

4. The dynamic scaphoid rhythm quantification system based on wearable sensing according to claim 1, characterized in that, The quantitative index of scapulohumeral rhythm includes at least one of the scapulohumeral ratio and the segmented slope. The scapulohumeral ratio is the ratio of the change in humeral elevation angle to the change in scapular rotation angle. The segmented slope is the ratio of the change in scapular rotation angle to the change in humeral elevation angle within a segment.

5. The dynamic scaphoid rhythm quantification system based on wearable sensing according to claim 4, characterized in that, The rhythm calculation unit includes: The registration subunit is used to resample the scapular rotation angle with the humeral elevation angle as the independent variable, so that the two correspond on the same humeral elevation angle scale; The segmented subunit is used to segment the preset measurement interval according to the humeral elevation angle with a set angular step size; The calculation subunit is used to calculate the scaphoid rhythm quantification index in each segment.

6. The dynamic scaphoid rhythm quantification system based on wearable sensing according to claim 4, characterized in that, The rhythm calculation unit also includes: The overall calculation subunit is used to calculate the overall shoulder-humper ratio over the preset measurement interval.

7. The dynamic scaphoid rhythm quantification system based on wearable sensing according to claim 1, characterized in that, The weighting calculation method for the reliability processing unit when downweighting the scapulohumeral rhythm quantification index is as follows: , As weight, For the humeral elevation angle, This is the upper limit of the preset measurement range. To reduce the weighted span, This indicates that the value is limited to .

8. The dynamic scaphoid rhythm quantification system based on wearable sensing according to claim 1, characterized in that, The rhythm calculation unit is also used to perform time trend statistics on the scapulohumeral rhythm quantification index obtained from multiple measurements, and the output unit outputs the change results of the scapulohumeral rhythm quantification index with the rehabilitation process.

9. A method for quantifying dynamic scaphoid rhythm based on wearable sensing, characterized in that, Includes the following steps: Acquire first inertial data collected by a first inertial unit arranged on the upper arm of the rehabilitation subject, and second inertial data collected by a second inertial unit arranged in the scapular region of the rehabilitation subject; The humeral elevation angle and scapular rotation angle in the gravity reference frame are obtained by performing attitude calculations on the first inertial data and the second inertial data respectively. The scapular rotation angle is registered with the humeral elevation angle, and the scapular rhythm quantification index is calculated. When the humeral elevation angle exceeds the preset measurement range, the scaphoid rhythm quantification index is marked and / or downweighted to obtain a reliability identifier; Output the scaphoid rhythm quantification result composed of the scaphoid rhythm quantification index and the reliability identifier.

10. The method for dynamic scaphoid rhythm quantification based on wearable sensing according to claim 9, characterized in that, Also includes: Acquire image pose data; When the humeral elevation angle exceeds the preset measurement range, image-assisted correction is provided for the scapular rotation angle based on the image posture data.

11. The method for dynamic scaphoid rhythm quantification based on wearable sensing according to claim 9, characterized in that, The preset measurement range corresponds to the range of limited activity in the early postoperative period of the rehabilitation subject.

12. The method for dynamic scaphoid rhythm quantification based on wearable sensing according to claim 9, characterized in that, The process of registering the scapular rotation angle with the humeral elevation angle and calculating the scapular rhythm quantification index specifically includes: The scapular rotation angle is resampled using the humeral elevation angle as the independent variable so that the two correspond on the same humeral elevation angle scale; The preset measurement interval is segmented according to the humeral elevation angle using a set angular step size; The scaphoid rhythm quantification index is calculated separately for each segment.

13. The method for dynamic scaphoid rhythm quantification based on wearable sensing according to claim 9, characterized in that, The weight calculation method for labeling and / or downweighting the scaphoid rhythm quantification index is as follows: , As weight, For the humeral elevation angle, This is the upper limit of the preset measurement range. To reduce the weighted span, This indicates that the value is limited to .

14. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the dynamic scaphoid rhythm quantification method based on wearable sensing as described in any one of claims 9-13.

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