CN-122004836-A - Pelvis exercise rehabilitation evaluation method and system

CN122004836ACN 122004836 ACN122004836 ACN 122004836ACN-122004836-A

Abstract

The invention relates to a pelvis movement rehabilitation evaluation system and an evaluation method, wherein the rehabilitation evaluation system comprises a wearable sensor and a display control device, and the rehabilitation evaluation method comprises the steps of fixing the sensor to the lumbar vertebra L5-sacral vertebra S1 position of a person to be tested; the method comprises the steps of enabling a person to be tested to stand on a rehabilitation training table for 2-3 seconds to obtain initial posture and position information of pelvis, starting the rehabilitation training table, enabling the pelvis of the person to be tested to do circular reciprocating motion along with the table body, enabling a sensor to collect pelvis motion data in real time and calculate pelvis track information, enabling the pelvis two-dimensional or three-dimensional track data to be transmitted, displayed and stored on a system computer in a wireless mode, and evaluating pelvis motion rehabilitation progress of the person to be tested according to the pelvis track data. The invention solves the defect that the traditional pelvis rehabilitation equipment does not have an evaluation function, can be used for evaluating the coordination, symmetry and stability of pelvis, provides scientific basis for the adjustment of pelvis rehabilitation training plan and the evaluation of rehabilitation progress, and has strong engineering practical value.

Inventors

XIANG ZHENG
GE HONGSHENG
MENG XIANGTAO
ZHAO HE
Fu Yaoshun

Assignees

北京航天时代光电科技有限公司

Dates

Publication Date: 20260512
Application Date: 20251103

Claims (10)

1. A pelvic exercise rehabilitation assessment method, comprising: fixing the wearable sensor to the position of lumbar vertebra L5-sacral vertebra S1 of the person to be tested; The person to be tested is static on the rehabilitation training table for 2-3 seconds in a preset rehabilitation training posture so as to acquire initial posture and position information of pelvis; Starting a rehabilitation training table, performing circular reciprocating motion on the pelvis of the tested person along with the training table, and acquiring motion data in real time by a sensor and calculating pelvis track information; And evaluating the progress of pelvic exercise rehabilitation of the tested person according to the pelvic locus information.
2. The method of claim 1, wherein obtaining pelvic initial pose and position information comprises: The sensor collects data in the time period, and judges whether the sensor is continuously in a static state or not through the angular velocity data output by the gyroscope, if the sum of the three-axis angular velocity hexagons is continuously within a preset range for 1s, the sensor is considered to be in the static state in the time period, otherwise, the sensor is counted from the beginning and the static state is re-detected; The accelerometer data of continuous 1s collected by the sensor in a static state are averaged to obtain X, Y, Z triaxial average acceleration of the pelvis part of the tested person under the carrier coordinate system According to the coordinate conversion relation from the navigation coordinate system to the carrier coordinate system, calculating to obtain initial posture information of the pelvis part of the tested person under the navigation coordinate system; Carrying out real-time navigation calculation and Kalman filtering according to the initial posture information and the data acquired by the sensor to obtain posture, speed and position information of the pelvis part of the tested person at each moment; Judging whether the training table is started or not through angular velocity data output by the gyroscope, if the sum of the three-axis angular velocity and the six power of the angular velocity is continuously 100ms to be larger than a preset value, considering that the tested person starts to reciprocate along with the training table, and taking the position information obtained through navigation before 100ms as pelvis initial position information, and marking as S 0 ＝[S x0 ,S y0 ,S z0 .
3. The method according to claim 2, wherein the initial pitch angle θ and roll angle γ of the pelvic region of the person under test in the navigation coordinate system are calculated as: Wherein the method comprises the steps of Θ is the initial pitch angle of the pelvis part of the tested person, γ is the initial roll angle of the pelvis part of the tested person, The initial course angle is the pelvis part of the tested person.
4. The method according to claim 2, wherein the initial pitch angle θ and roll angle γ of the pelvic region of the person under test in the navigation coordinate system are calculated as: Initial course angle of pelvis part of tested person under navigation coordinate system
5. The method of claim 1, wherein resolving pelvic trajectory information comprises: according to the angular velocity and acceleration data acquired by the sensor, performing inertial navigation calculation to obtain the posture, the speed and the position information of the pelvis part of the person to be tested at each moment; Estimating and correcting the posture, speed and position errors of the pelvis part obtained by inertial navigation calculation by using a Kalman filtering algorithm, wherein the estimating and correcting comprises the following steps: Establishing a state equation X k ＝Φ k/k-1 X k-1 +Γ k-1 W k-1 , wherein X k is a state quantity of the kth sampling time, phi k/k-1 is a one-step transfer matrix from the kth-1 sampling time to the kth sampling time, X k-1 is a state quantity of the kth-1 sampling time, gamma k-1 is a process noise distribution matrix of the kth-1 sampling time, and W k-1 is a process noise matrix of the kth-1 sampling time; Establishing a measurement equation Z k ＝HX k +U, wherein Z is the position of the measured human body part at the kth sampling moment under a navigation coordinate system, H is a measurement matrix, U is a measurement noise matrix, and Z k T ＝[S xk ,S yk ,S zk ]; S xk 、S yk 、S zk is the position component of the detected human body part under the navigation coordinate system; According to the Kalman filtering algorithm, the following are satisfied: K k ＝P k/k-1 H T (HP k/k-1 H T +R k ) -1 , p k ＝(I-K k H)P k/k-1 , wherein, For the best estimate of the state at time k-1, For state estimation from the kth-1 time to the kth time, Φ k/k-1 is a one-step transition matrix from the kth-1 time to the kth time, P k/k-1 is a mean square error matrix from the kth-1 time to the current time, P k-1 is a kth-1 time mean square error matrix, Γ k-1 is a kth-1 time process noise distribution matrix, Q k-1 is a kth-1 time process noise covariance matrix, K k is a kth time filter gain, H is a measurement matrix, R k is a kth time measurement noise covariance matrix, The optimal estimation is carried out on the state at the kth moment, and I is a unit array; After initial alignment is completed, navigation calculation and Kalman filtering are carried out, time updating and measurement updating are carried out in each sampling period, posture, speed and position errors are estimated and corrected, and corrected positions are recorded as S k ＝[S xk ,S yk ,S zk ],S xk 、S yk 、S zk to be triaxial position components of the measured human body part under a navigation coordinate system respectively; The pelvic locus information is obtained by subtracting the initial pelvic position information before the training platform is started from the position information of the deep-rooted basin at each moment after the training platform is started, wherein the calculation formula is ：s k ＝S k -S 0 ＝[S xk -S x0 ,S yk -S y0 ,S zk -P z0 ],, and s k ＝[s xk ,s yk ,s zk is a point for forming the pelvic movement locus of the tested person.
6. The method of claim 5, wherein X in X k represents a state quantity, the subscript k represents the kth sample time, For the attitude angle error of the pelvis part of the tested person under the navigation coordinate system, δv x δv y δv z is the speed error of the pelvis part of the tested person under the navigation coordinate system, δxδyδz is the position error of the pelvis part of the tested person under the navigation coordinate system, ε bx ε by ε bz is the zero offset of the gyroscope, Zero offset for the accelerometer; One-step transfer matrix F n is triaxial acceleration data of the pelvis part of the tested person under a navigation coordinate system, x is an antisymmetric calculation sign, A coordinate transformation matrix from a carrier coordinate system to a navigation coordinate system; The process noise matrix W＝[w gx w gy w gz w ax w ay w az ] T ,w gx 、w gy 、w gz is the noise of the three-axis gyroscope, and w ax 、w ay 、w az is the noise of the three-axis accelerometer; Process noise distribution matrix Measurement matrix h= [ O 3×3 O 3×3 I 3×3 O 3×3 O 3×3 ] Measuring noise matrix Each of the position error noise.
7. The method of claim 5, further comprising processing and displaying pelvic trace information, comprising at least one of: Sequentially drawing all track data and connecting lines by taking s xk as an abscissa and s yk as an ordinate to obtain a two-dimensional motion track of the pelvis of the tested person in the horizontal direction; And sequentially drawing all track data and connecting lines by taking s xk as an abscissa, s yk as an ordinate and s zk as a vertical coordinate to obtain the three-dimensional motion track of the pelvis of the tested person in the horizontal and vertical directions.
8. The method according to claim 1, wherein the evaluation of the progress of pelvic exercise rehabilitation of the person under test based on pelvic trajectory information comprises quantitative evaluation of pelvic coordination, symmetry, stability and rehabilitation tendency of the person under test based on the trajectory diameter, horizontal asymmetry, vertical waviness, circular arc irregularity, and training trajectory changes of the same person over different periods.
9. The pelvis movement rehabilitation evaluation system is characterized by being used for executing the method according to any one of claims 1 to 8, comprising a wearable sensor and a display control device, wherein the wearable sensor internally comprises a gyroscope and an accelerometer, the pelvis movement track is obtained through calculation by measuring the movement information of the pelvis part of a tested human body in the training process and is sent to the display control device, and the display control device is used for carrying out parameter configuration, sensor control, track data receiving, storage, display and evaluation report generation on the wearable sensor in a wireless communication mode, so that a friendly man-machine interaction interface is provided for a user.
10. The method of claim 9, wherein the wearable sensor comprises a MEMS sensor, a signal processing module, a wireless communication module and a lithium battery, wherein the MEMS sensor comprises a gyroscope, an accelerometer, a magnetometer and a barometric altimeter, each sensor collects and outputs angular velocity, acceleration, geomagnetism and barometric altimeter to the signal processing module, the signal processing module processes and calculates measured data output by the MEMS sensor to obtain a pelvic motion track, the pelvic motion track is transmitted to the communication module in a framing and packaging mode, the wireless communication module transmits the pelvic track data in a wireless communication mode, and the lithium battery is used for supplying power to the MEMS sensor, the signal processing module and the wireless communication module; the display control device comprises a parameter configuration module, a sensor control module, a track data receiving, storing and displaying module and an evaluation report generating module, wherein the parameter configuration module is used for configuring parameters of the display control device, including interface colors, interface styles, display contents and curve line type settings, the sensor control module is used for controlling the sensor, including starting acquisition, stopping acquisition and shutdown, the track data receiving, storing and displaying module is used for receiving track data and storing the track data locally, and dynamically displaying the track data on a software interface in a data or curve or chart mode, the evaluation report generating module is used for carrying out feature identification and parameter extraction on the pelvis track data through a software built-in AI algorithm, further evaluating pelvis motion coordination, symmetry and stability, and providing basis for rehabilitation training plan adjustment and rehabilitation progress evaluation.

Description

Pelvis exercise rehabilitation evaluation method and system Technical Field The invention relates to the technical field of exercise rehabilitation, in particular to a pelvis exercise rehabilitation evaluation method and a pelvis exercise rehabilitation evaluation system. Background The pelvis plays an important role of a central in human body structure, is a bridge for transmitting the upper body strength to the lower body, and has the key functions of supporting, protecting and connecting. The movement pattern of pelvis is mainly represented in the forward tilting, backward tilting, side tilting, rotation and other directions, and the patterns affect the stability and movement performance of the lower limbs and the core of human body. The pelvis is tilted forward in running, jumping and other actions, the bending range of the hip can be effectively increased, the lower limbs can finish bending and stretching actions better, the pelvis is tilted backward, the pressure of lumbar vertebrae can be effectively reduced, the lumbar vertebrae are protected, stability is kept in sit-ups, abdomen rolling and other actions, micro-tilting of the pelvis can naturally occur when a human body walks and runs, the trunk is helped to keep balance, and rotation of the pelvis assists rotation of hip joints in walking and running, so that the natural and smooth steps of the human body are ensured. However, due to the acceleration of modern life rhythm and the increase of life pressure of people, the incidence of pelvic movement function injury is straight-line, such as chronic strain caused by long-time bad life habits such as long sitting, excessive movement or improper movement posture, inflammation of the pelvis and surrounding tissues, pelvic fracture caused by external force effect, and the like, the pelvic movement function of the human body can be damaged to different degrees. In order to realize the rapid recovery of the pelvis movement function, improve the high efficiency of recovery training, more and more pelvis recovery training devices are generated. The pelvis rehabilitation equipment in the prior art has the common problems that the pelvis rehabilitation equipment only has a pelvis rehabilitation training function, does not have a rehabilitation evaluation function, cannot quantitatively monitor the coordination, symmetry and stability of the pelvis of a patient in the rehabilitation training process, and cannot continuously track and evaluate the rehabilitation progress condition of the patient. Disclosure of Invention The invention provides a pelvis movement rehabilitation evaluation method and a pelvis movement rehabilitation evaluation system, which aim to solve the technical problems that the existing rehabilitation equipment can only perform rehabilitation training, can not quantitatively monitor the coordination, symmetry and stability of the pelvis of a patient in the rehabilitation training process, and can not continuously track and evaluate the rehabilitation progress of the patient. In a first aspect, there is provided a pelvic exercise rehabilitation assessment method comprising: fixing the wearable sensor to the position of lumbar vertebra L5-sacral vertebra S1 of the person to be tested; The person to be tested is static on the rehabilitation training table for 2-3 seconds in a preset rehabilitation training posture so as to acquire initial posture and position information of pelvis; Starting a rehabilitation training table, performing circular reciprocating motion on the pelvis of the tested person along with the training table, and acquiring motion data in real time by a sensor and calculating pelvis track information; And evaluating the progress of pelvic exercise rehabilitation of the tested person according to the pelvic locus information. With reference to the first aspect, in certain implementations of the first aspect, acquiring pelvic initial pose and position information includes: The sensor collects data in the time period, and judges whether the sensor is continuously in a static state or not through the angular velocity data output by the gyroscope, if the sum of the three-axis angular velocity hexagons is continuously within a preset range for 1s, the sensor is considered to be in the static state in the time period, otherwise, the sensor is counted from the beginning and the static state is re-detected; The accelerometer data of continuous 1s collected by the sensor in a static state are averaged to obtain X, Y, Z triaxial average acceleration of the pelvis part of the tested person under the carrier coordinate system According to the coordinate conversion relation from the navigation coordinate system to the carrier coordinate system, calculating to obtain initial posture information of the pelvis part of the tested person under the navigation coordinate system; Carrying out real-time navigation calculation and Kalman filtering according to the initial posture information and the