Scoliosis screening robot
By designing a scoliosis screening robot, using the depth camera module and core development board to identify key points of human bones and calculate the Cobb angle, the problems of low efficiency and high cost of scoliosis screening in the existing technology are solved, and the rapid and accurate screening effect is achieved.
Patent Information
- Application Number
- CN202420959098.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-06
- Publication Date
- 2025-02-28
- Estimated Expiration
- 2034-05-06
AI Technical Summary
In the prior art, the screening of scoliosis still relies on manual evaluation, which has problems such as low efficiency, strong subjectivity and high cost, and professional evaluation equipment is expensive and complicated.
A scoliosis screening robot was designed, using a depth camera module to collect human posture images from different angles, and through the core development board, identify the key points of the human bones and calculate the Cobb angle to evaluate whether there is a risk of scoliosis.
Large-scale contactless scoliosis rapid and accurate screening is achieved, avoiding thermal problems and radiation from X-ray equipment, and reducing evaluation costs and complexity.
Smart Images
Figure CN222533274U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of detection equipment, in particular to a scoliosis screening robot. Background Art
[0002] Scoliosis is a common spinal deformity disease that seriously harms adolescents and children. With the popularization of electronic devices and the increase in people's sedentary time, different degrees of scoliosis frequently occur in children, adolescents and adults. Due to the unknown cause of the disease, hidden onset and rapid development, there are basically no obvious clinical symptoms in the early stage of the disease. In addition, because teenagers now have a strong sense of independent living and parents are under great work pressure, they don't know much about the disease. Often due to insufficient attention and insufficient cognition, they fail to discover it in time, causing many children to miss the best time for treatment. In addition, adolescents are in a critical period of physical development, with rapid bone growth, and deformities can be easily magnified, causing deformities, pain and functional problems of internal organs, which seriously affect the physical and mental health of adolescents. Mild scoliosis can be restored to normal through long-term exercise rehabilitation, while severe scoliosis requires surgery. However, both mild and severe scoliosis need to be screened and evaluated before treatment. Large-scale non-contact, rapid and accurate screening of scoliosis is of great significance for the prevention and control of scoliosis.
[0003] Currently, scoliosis screening still uses manual assessment methods, which have the disadvantages of low efficiency, strong subjectivity and high cost. Professional scoliosis assessment can be performed in hospitals or professional institutions by taking X-rays and calculating the Cobb angle, which has the disadvantages of expensive equipment and complicated procedures. Utility Model Content
[0004] The utility model aims to provide a scoliosis screening robot, which can collect human body posture images at different angles and accurately evaluate whether a person has a risk of scoliosis from multiple dimensions.
[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a scoliosis screening robot, comprising a front frame and a rear frame, the front frame being fixed on the rear frame and forming a first cavity with the rear frame, a fixing plate being fixed in the first cavity, a limited opening being provided on the fixing plate, a depth camera module being fixed in the limited opening by a fixing component, a core development board, a speaker and a power module being fixed on the fixing plate, the speakers being located on both sides of the depth camera module, a touch screen being fixed on the front frame, a transparent window for the depth camera module to take pictures being provided at the bottom of the touch screen, the core development board, the speaker, the depth camera module and the touch screen being electrically connected to the power module, the speaker being electrically connected to the core development board, the touch screen being connected to the core development board via a first I2C bus, and the depth camera being connected to the core development board via a MIPI bus and a second I2C bus.
[0006] Furthermore, the fixing assembly includes a square shell, the depth camera module is placed in the square shell, side panels are fixedly provided on both left and right sides of the square shell, the side panels are fixed on the fixing plate, and a through hole is provided at the bottom of the square shell.
[0007] Furthermore, the rear frame is provided with an opening, a movable door is rotatably connected to one side of the opening, an annular frame is provided on the inner side of the opening to limit the movable door, and the movable door is provided with a plurality of strip openings for heat dissipation.
[0008] Furthermore, a support rod is provided at the bottom of the front frame, a fixing seat is fixed at the bottom of the support rod, and a universal wheel is provided at the bottom of the fixing seat.
[0009] Furthermore, the depth camera module includes a base, a shell, a first bracket, a second bracket, a first circuit board and a second circuit board. The shell is fixed above the base and forms a second cavity. The first bracket, the first circuit board, the second bracket and the second circuit board are arranged in sequence in the second cavity. The first bracket is sequentially provided with a first infrared camera, a distance sensor, a laser transmitter, a color camera and a second infrared camera. The first circuit board is located on the rear side of the first bracket. The laser transmitter, the first infrared camera and the second infrared camera are electrically connected to the first circuit board. The distance sensor and the color camera are electrically connected to the first circuit board through a flexible circuit board. The second circuit board is electrically connected to the first circuit board through a flexible circuit board.
[0010] Beneficial effects of the utility model: The scoliosis screening robot in the utility model can continuously and massively collect human images and identify key points of human bones, thereby calculating the cobb angle. Unlike X-ray equipment, which is prone to heat up during continuous shooting and cannot continue shooting, and does not have radiation, the depth camera module collects human back images at multiple different angles and identifies key points of the bones on the back of the human body. The linear relationship between the key points of the bones on the back of the human body and the cobb angle is obtained through the core development board, so as to evaluate whether a person has the risk of scoliosis. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] Figure 1 It is a structural schematic diagram of the back of the utility model;
[0012] Figure 2 This is the front view of the robot of the utility model;
[0013] Figure 3 This is a layout diagram on the fixed plate of the utility model;
[0014] Figure 4 This is an exploded diagram of the structure of the depth camera module of the utility model;
[0015] Figure 5 This is the schematic diagram of the core development board of the utility model;
[0016] Figure 6 for Figure 7 The enlarged schematic diagram at A in the middle;
[0017] Figure 7 for Figure 7 The enlarged schematic diagram at B in the middle;
[0018] Figure 8 for Figure 7 The enlarged schematic diagram at C in the middle;
[0019] Fig. 9 for Figure 7 The enlarged schematic diagram at D in the middle;
[0020] Fig.10 for Figure 7 The enlarged schematic diagram at E in the middle;
[0021] Fig.11 This is a schematic diagram of the robot of the utility model collecting 13 key bone points of the human back.
[0022] Wherein: 1. front frame, 2. rear frame, 3. fixing plate, 4. annular frame, 5. depth camera module, 501. base, 502. shell, 503. first bracket, 504. second bracket, 505. first circuit board, 506. second circuit board, 507. first infrared camera, 508. distance sensor, 509. laser transmitter, 510. color camera, 511. second infrared camera, 6. core development board, 7. touch screen, 8. fixing component, 81. square shell, 82. side panel, 83. through hole, 9. opening, 10. movable door, 12. strip opening, 13. support rod, 14. fixing seat, 15. universal wheel, 16. speaker, 17. power module. DETAILED DESCRIPTION
[0023] The present invention is further described below in conjunction with the accompanying drawings. For better understanding, the orientation of the present invention is described according to the orientation shown in the accompanying drawings and cannot be understood as a limitation of the present application; the following terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.
[0024] See also Figures 1 to 11The utility model provides an embodiment: a scoliosis screening robot, comprising a front frame 1 and a rear frame 2, wherein the front frame 1 is fixed on the rear frame 2 and forms a first cavity with the rear frame 2, a fixing plate 3 is fixed in the first cavity, a limited opening is provided on the fixing plate 3, a depth camera module 5 is fixed in the limited opening through a fixing component 8, a core development board 6, a speaker 16 and a power module 17 are also fixed on the fixing plate 3, the speaker 16 is located on both sides of the depth camera module 5, a touch screen 7 is fixed on the front frame 1, a transparent window that the depth camera module 5 can shoot is provided at the bottom of the touch screen 7, the core development board 6, the speaker 16, the depth camera module 5 and the touch screen 7 are electrically connected to the power module 17, the speaker 16 is electrically connected to the core development board 6, the touch screen 7 is connected to the core development board 6 through a first I2C bus, and the depth camera is connected to the core development board 6 through a MIPI bus and a second I2C bus. The model of the core development board 6 is RK3588 XB. The core development board 6 is an existing Android smart motherboard that integrates some necessary interface circuits such as microprocessor, memory, storage and wifi. It is usually used in embedded systems or IoT devices. As the core component of the entire system, its main function is to collect high-quality color images from the depth camera module 5 and calculate the cobb angle and then output the results or transmit them to the server via WIFI. It adopts the Cortex-A73 quad-core 64-bit chip solution, Imagination GE9920 GPU, supports Google Android12 system, and supports decoding of mainstream audio and video formats and pictures. Support 4K, H.264 hard decoding, multi-channel video output and input, embedded 3DGPU makes the core development board 6 fully compatible with OpenGL ES 1.1 / 2.0 / 3.2, OpenCL 2.0 and Vulkan 1.1. The 2D hardware engine will maximize the display performance and provide very smooth operation. The built-in NPU (6T) supports INT8 / INT16 / FP16 / BFP16 mixed operation with stronger performance, faster speed and richer interfaces. Support single and double 6 / 8-bit LVDS display output and MIPI display output. Support HDMI-4K output, VBYONE 4K output and 4K video playback. Support 2.4GWIFI+BT, infrared remote control, gravity sensor, IO port expansion and other functions, rich interfaces, and are widely used in advertising machines, interactive all-in-one machines, security, industrial control and other intelligent control fields. Due to its hardware platform and Android intelligence, it can be used on the smart terminal motherboard when human-computer interaction and network device interaction are required. The schematic diagram of the core development board 6 is as follows Figure 7As shown. The touch screen 7 is also called a "touch screen" or "touch panel". It is an inductive liquid crystal display device that can receive input signals such as contacts. When the graphic button on the screen is touched, the tactile feedback system on the screen can drive various connection devices according to the pre-programmed program. It can be used to replace the mechanical button panel and create vivid audio and video effects through the liquid crystal display screen. The touch screen 7 is mainly used to shoot through the camera software based on the Android system installed on the core development board 6. After recognition by the depth camera module 5, the color image and the coordinates of the human skeleton point are output to the core development board 6 for calculation, and the screened image and result report are displayed.
[0025] Please continue reading Figure 3 As shown, in one embodiment of the utility model, the fixing assembly 8 includes a square housing 81, the depth camera module 5 is placed in the square housing 81, the left and right sides of the square housing 81 are fixedly provided with side panels 82, the side panels 82 are fixed on the fixing plate 3, and the bottom of the square housing 81 is provided with a through hole 83. The square housing 81 holds the depth camera and is fixed on the fixing plate 3 through the side panels 82. A large hole for heat dissipation is also provided on the upper back of the square housing 81. The through hole 83 at the bottom of the back of the square housing 81 can facilitate the connection between the depth camera module 5 and the data transmission line.
[0026] Please continue reading Figure 1 , Figure 3 As shown, in one embodiment of the utility model, an opening 9 is provided on the rear frame 2, a movable door 10 is rotatably connected to one side of the opening 9, a ring frame 4 is provided on the inner side of the opening 9 to limit the movable door 10, and a plurality of strip openings 12 for heat dissipation are provided on the movable door 10. The movable door 10 can facilitate the installation and maintenance of the internal conditions of the robot, and the strip openings 12 provided on the movable door 10 can help the robot dissipate heat well, so that the device will not be damaged due to overheating.
[0027] Please continue reading Figure 2 As shown, in one embodiment of the utility model, a support rod 13 is provided at the bottom of the front frame 1, a fixing seat 14 is fixed at the bottom of the support rod 13, and a universal wheel 15 is provided at the bottom of the fixing seat 14. The support rod 13 can set up the robot to a certain height, so that no additional equipment is required for setting up. The support rod 13 can also be set up as a telescopic rod body for adjusting the height, so that when collecting images of the back of different people, the height can be adjusted according to the height. The universal wheel 15 can facilitate the device to adjust the overall position and viewing angle of the robot device.
[0028] Please continue reading Figure 4As shown, in one embodiment of the utility model, the depth camera module 5 includes a base 501, a housing 502, a first bracket 503, a second bracket 504, a first circuit board 505 and a second circuit board 506. The housing 502 is fixed above the base 501 and forms a second cavity. The first bracket 503, the first circuit board 505, the second bracket 504 and the second circuit board 506 are sequentially arranged in the second cavity. The first bracket 503 is sequentially provided with a first infrared camera 507, a distance sensor 508, a laser transmitter 509, a color camera 510 and a second infrared camera 511. The first circuit board 505 is located at the rear side of the first bracket 503. The laser transmitter 509, the first infrared camera 507 and the second infrared camera 511 are electrically connected to the first circuit board 505. The distance sensor 508 and the color camera 510 are electrically connected to the first circuit board 505 through a flexible circuit board. The second circuit board 506 is electrically connected to the first circuit board 505 through a flexible circuit board. Core components such as color camera 510, infrared camera, laser controller, and distance sensor 508 provide inertial sensing data and high-quality RGB images, and integrate hardware depth image and color image spatial alignment functions. The camera comes with a variety of depth working modes to choose from to adapt to different application scenarios, and provides flexible and rich frame synchronization and multi-machine synchronization functions. The depth camera of the utility model can achieve zero blind zone depth data acquisition within the range of 0-10m. Using the new technology of dynamic visual perception, it can detect and identify the movement and changes of images in real time and obtain the coordinates of key points of human bones.
[0029] The utility model has the following working principle: the scoliosis screening robot (detector) collects four color images of the back of the human body, the back half of the body, the flexion and the back, and uses the depth camera module to shoot and identify the coordinates of 13 key bone points P1 to P13 of the back of the human body as follows: Fig.11 As shown, according to the coordinate points P1 and P2, the inclination angle of P1 and P2 with the horizontal line is obtained and recorded as x1. Similarly, the inclination angle x2 of P3 and P4 with the horizontal line, the inclination angle x3 of P5 and P6 with the horizontal line, the inclination angle x4 of P7 and P8 with the horizontal line, the angle x5 between P9 and P10 and the vertical line, the angle x6 between P10 and P11 and the vertical line, the angle x7 between P11 and P12 and the vertical line, and the angle x8 between P12 and P13 and the vertical line are obtained. The cobb angle value is obtained according to the linear relationship formed by these inclination angles and the angles, that is, cobb=x1+x2+x3+x4+x5+x6+x7+x8. Scoliosis is judged according to the cobb angle value to assess whether a person is at risk of scoliosis.
[0030] The above description is only a preferred embodiment of the present utility model and cannot be understood as a limitation of the present application. All equivalent changes and modifications made within the scope of the patent application of the present utility model shall fall within the scope of the present utility model.
Claims
1. A scoliosis screening robot, characterized in that: The invention comprises a front frame and a rear frame, wherein the front frame is fixed on the rear frame and forms a first cavity with the rear frame, a fixing plate is fixed in the first cavity, a limited opening is provided on the fixing plate, a depth camera module is fixed in the limited opening by a fixing component, a core development board, a speaker and a power module are also fixed on the fixing plate, the speakers are located on both sides of the depth camera module, a touch screen is fixed on the front frame, a transparent window capable of photographing by the depth camera module is provided at the bottom of the touch screen, the core development board, the speaker, the depth camera module and the touch screen are electrically connected to the power module, the speaker is electrically connected to the core development board, the touch screen is connected to the core development board through a first I2C bus, and the depth camera is connected to the core development board through a MIPI bus and a second I2C bus.
2. A scoliosis screening robot according to claim 1, characterized in that: The fixing assembly includes a square shell, the depth camera module is placed in the square shell, side panels are fixedly provided on both left and right sides of the square shell, the side panels are fixed on the fixing plate, and a through hole is provided at the bottom of the square shell.
3. The scoliosis screening robot according to claim 1, characterized in that: The rear frame is provided with an opening, a movable door is rotatably connected to one side of the opening, an annular frame is provided on the inner side of the opening to limit the movable door, and the movable door is provided with a plurality of strip openings for heat dissipation.
4. The scoliosis screening robot according to claim 1, characterized in that: A support rod is arranged at the bottom of the front frame, a fixing seat is fixed at the bottom of the support rod, and a universal wheel is arranged at the bottom of the fixing seat.
5. The scoliosis screening robot according to claim 1, characterized in that: The depth camera module includes a base, a shell, a first bracket, a second bracket, a first circuit board and a second circuit board. The shell is fixed above the base and forms a second cavity. The first bracket, the first circuit board, the second bracket and the second circuit board are arranged in sequence in the second cavity. The first bracket is sequentially provided with a first infrared camera, a distance sensor, a laser transmitter, a color camera and a second infrared camera. The first circuit board is located on the rear side of the first bracket. The laser transmitter, the first infrared camera and the second infrared camera are electrically connected to the first circuit board. The distance sensor and the color camera are electrically connected to the first circuit board through a flexible circuit board. The second circuit board is electrically connected to the first circuit board through a flexible circuit board.