CN109717873A - A kind of arthrogryposis degree acquisition system - Google Patents
A kind of arthrogryposis degree acquisition system Download PDFInfo
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- CN109717873A CN109717873A CN201910016695.5A CN201910016695A CN109717873A CN 109717873 A CN109717873 A CN 109717873A CN 201910016695 A CN201910016695 A CN 201910016695A CN 109717873 A CN109717873 A CN 109717873A
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- 208000008037 Arthrogryposis Diseases 0.000 title description 13
- 238000005452 bending Methods 0.000 claims abstract description 64
- 238000012545 processing Methods 0.000 claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 26
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000012549 training Methods 0.000 abstract description 36
- 238000000034 method Methods 0.000 description 9
- 210000003127 knee Anatomy 0.000 description 8
- 210000000629 knee joint Anatomy 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 238000004088 simulation Methods 0.000 description 4
- 210000003414 extremity Anatomy 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012417 linear regression Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Abstract
本发明提供一种关节弯曲度数获取系统，应用于关节康复训练过程中的弯曲度数获取技术领域，所述系统包括：弯曲度采集模块，用于安装在人体待测部位，并采集所述待测部位的弯曲信号；信号处理模块，与所述弯曲度采集模块相连，用于接收所述弯曲信号，并将所述弯曲信号转化为电信号；数据传输模块，与所述数据处理模块相连，用于将所述电信号进行发送；数据处理模块，用于与所述数据处理模块相连，接收所述电信号，并将所述电信号转换为第一弯曲度值。应用本发明实施例，通过曲度采集模块采集直接获取患者的弯曲度信号进而进行弯曲度信号进行处理，而避免了采用刻度表获得弯曲度值造成误差过大的问题，提高患者关节弯曲度的准确性。
The invention provides a system for acquiring a degree of curvature of a joint, which is applied to the technical field of acquiring degree of curvature in joint rehabilitation training. The bending signal of the part; the signal processing module, connected with the bending degree acquisition module, is used for receiving the bending signal and converting the bending signal into an electrical signal; the data transmission module, connected with the data processing module, uses for sending the electrical signal; a data processing module for connecting with the data processing module, receiving the electrical signal, and converting the electrical signal into a first curvature value. By applying the embodiment of the present invention, the curvature signal of the patient is directly acquired by the curvature acquisition module, and then the curvature signal is processed, thereby avoiding the problem of excessive error caused by using a scale to obtain the curvature value, and improving the joint curvature of the patient. accuracy.
Description
Technical field
The present invention relates to joint rehabilitation training technical fields, obtain system more particularly to a kind of arthrogryposis degree.
Background technique
Since traffic accident, Fall injuries or other patellar fractures surprisingly caused are innumerable, long-term strain causes to close
The case for saving installation joint prosthesis after function is lost is also more, so just needing to carry out knee rehabilitation in this case
Training.
Existing hospital generally carries out rehabilitation training, training process to patient using traditional sitting and lying formula rehabilitation training machine
Time-consuming and laborious, and low efficiency, at high cost, the operation that should not equally be in is completed, and is in rehabilitation training for the ease of patient, very much
Producer develops the fixed bracket of multifunctional lower limb, for fixed injured immobilization of the wounded limb component, additionally by setting arthrogryposis
Graduation apparatus, arthrogryposis graduation apparatus be used for fixation member with knee is bent when carry out bending state show, convenient for suffer from
Knee joint bending situation is grasped when person's training.As it can be seen that wearable fixed bracket is primarily to fix used in suffering limb, although having
Angle index mark, but angle indicates to need to fix with bracket, while bracket and the extremity with patient, can lead quarter in this way
Scale number inaccuracy is spent, error is excessive, is unfavorable for patient's training.
Summary of the invention
In view of the foregoing deficiencies of prior art, it is obtained the purpose of the present invention is to provide a kind of arthrogryposis degree and is
System, it is intended to be carried out at curvature signal by the curvature signal that the acquisition of curvature acquisition module directly acquires patient
Reason, and avoid and the problem that bending angle value causes error excessive is obtained using graduation apparatus, improve the accurate of patient articular's curvature
Property.
In order to achieve the above objects and other related objects, the present invention provides a kind of arthrogryposis degree acquisition system, described
System includes:
Curvature acquisition module for being mounted on human body detected part, and acquires the bending signal of the detected part；
Signal processing module is connected with the curvature acquisition module, for receiving the bending signal, and will be described curved
Bent signal is converted into electric signal；
Data transmission module is connected with the data processing module, for sending the electric signal；
Data processing module receives the electric signal for being connected with the data processing module, and by the electric signal
Be converted to the first bending angle value.
In a kind of implementation of the invention, the system also includes:
Module is adjusted, for being connected with the curvature acquisition module, reads the second bending of the human body detected part
Angle value；
The data processing module is specifically used for: based on it is described first bending angle value, second bending angle value to electric signal into
Row amendment.
In a kind of implementation of the invention, the curvature acquisition module is curvature sensor.
In a kind of implementation of the invention, the signal processing module, comprising: resistance, control panel；
The first end of the resistance is connected with the first end of the curvature acquisition module, the curvature acquisition module
Second end is connected with the first pin of the control panel, and the second end of the resistance is connected with the second pin of the control panel,
The third end of the curvature acquisition module is connected with the control panel data terminal
Wherein, the first pin of the control panel is to provide the pin of operating voltage, and the second pin of the control panel is
Grounding pin.
In a kind of implementation of the invention, the data transmission module is wireless transport module, and the data transmit mould
The data sending terminal of block is connected with the data transmission terminal of the control panel, the data transmission terminal of the data transmission module with it is described
The data sending terminal of control panel is connected,
Wherein, the model APC220 of the wireless transport module.
In a kind of implementation of the invention, the control panel is Arduino control panel, and the curvature acquisition module is
FLX-03A, the resistance value of the resistance are 22K ohm.
In a kind of implementation of the invention, the conversion formula of the first bending angle value are as follows:
Y=3.747*10-5x3-0.026 73x2+3.917x+490.6
Wherein, y is the first bending angle value, and x is the corresponding voltage value of the electric signal.
In a kind of implementation of the invention, the adjustment module is joint angles measuring scale.
In a kind of implementation of the invention, the system also includes:
Reminding module, for according to the first bending angle value issues voice prompting, angle prompts picture.
In a kind of implementation of the invention, the data processing module is specifically used for:
Determine the first bending angle value and the corresponding angular error of second curvature；
Judge the angular error whether within a preset range；
If not, obtaining multiple value of electrical signals corresponding to the first bending angle value；
Obtain the average value of the multiple value of electrical signals；
Bending angle value is recalculated based on the average value.
As described above, a kind of arthrogryposis degree provided in an embodiment of the present invention obtains system, mould is acquired by curvature
Block acquires the curvature signal of patient, and curvature signal is then converted to electric signal and is handled electric signal, acquisition pair
The the first bending angle value answered.In the embodiment of the present invention, electric signal can be sent by data transmission module, such as send
To mobile phone, corresponding first bending angle value is obtained by the calculating that the software on mobile phone carries out data, the embodiment of the present invention passes through
The acquisition of curvature acquisition module directly acquires the curvature signal of patient and then carries out curvature signal and handles, and avoids and adopt
The problem that bending angle value causes error excessive is obtained with graduation apparatus, improves the accuracy of patient articular's curvature.
Detailed description of the invention
Fig. 1 is that a kind of arthrogryposis degree of the embodiment of the present invention obtains a kind of structural schematic diagram of system.
Fig. 2 is that a kind of arthrogryposis degree of the embodiment of the present invention obtains the first embodiment schematic diagram of system.
Fig. 3 is that a kind of arthrogryposis degree of the embodiment of the present invention obtains second of embodiment schematic diagram of system.
Fig. 4 is that a kind of arthrogryposis degree of the embodiment of the present invention obtains the third embodiment schematic diagram of system.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.
Please refer to Fig. 1-4.It should be noted that only the invention is illustrated in a schematic way for diagram provided in the present embodiment
Basic conception, only shown in schema then with related component in the present invention rather than component count, shape when according to actual implementation
Shape and size are drawn, when actual implementation kenel, quantity and the ratio of each component can arbitrarily change for one kind, and its component cloth
Office's kenel may also be increasingly complex.
As shown in Figure 1, the embodiment of the present invention provides a kind of arthrogryposis degree acquisition system, the system comprises:
Curvature acquisition module 11 for being mounted on human body detected part, and acquires the bending signal of the detected part.
In the embodiment of the present invention, curvature acquisition module 11 is curvature sensor, and curvature sensor belongs to a kind of soft
Property sensor, can only one direction bending, be the variable resistance changed with bending angle.Under vertical state, sensing
The resistance value of device is 10K Ω.When being bent 180 °, its resistance value reaches 40K Ω, and resistance value increases as bending angle increases.Institute
Curvature sensor is mounted on detected part, the bending of curvature sensor is driven by the bending in joint, to be formed
The resistance value of variation, using the resistance value of variation as bending signal.
It should be noted that the length of curvature sensor is divided into 2.2 inches and 4.5 inches two kinds.It is understood that
The selection that curvature sensor model number can be carried out according to department to be measured, for example, when the rehabilitation for knee, it is contemplated that people
The curvature of body knee bends, selecting length is 4.5 inches, and concrete model is the curvature sensor of FLX-03A type.
Signal processing module 12 is connected with the curvature acquisition module 11, for receiving the bending signal, and by institute
It states bending signal and is converted into electric signal.
, can be by circuit connection it is understood that when collect the resistance variations of curvature sensor, it can will be electric
The changing value of resistance is embodied in the variation of voltage value, to obtain corresponding electric signal.
In a kind of embodiment of the invention, as shown in Fig. 2, the signal processing module 12, comprising: resistance R1, control panel
U1；The first end of the resistance R1 is connected with the first end of the curvature acquisition module 11, the curvature acquisition module 11
Second end be connected with the first pin of the control panel U1, the second end of the resistance R1 is drawn with the second of the control panel U1
Foot is connected, and the third end of the curvature acquisition module 11 is connected with the control panel U1 data terminal；Wherein, the control panel U1
The first pin be that the pin of operating voltage is provided, the second pin of the control panel U1 is grounding pin.
In the embodiment of the present invention, curvature acquisition module 11 is equivalent to variable resistance R2, and the control panel is Arduino
Control panel, the curvature acquisition module 11 are FLX-03A, and the resistance value of the resistance R1 is 22K ohm.
Bending sensor can change its resistance in bending, so system is drawn using a simulation of Arduino control panel
Foot measures this variation, and the resistance of a fixed resistance value is needed to be used to compare two ohmically voltages, i.e. divider resistance.Institute
The first pin for stating control panel U1 is that provide the pin of operating voltage be 5V, in the case that voltage is constant, by a part of voltage
Drop is on divider resistance.It is actually the mould for reading 11 both ends of curvature acquisition module that simulation on Arduino control panel, which is read,
Quasi- voltage value, at 5V (maximum value), it will read 1023, and in 0V, it reads 0.Therefore, it is possible to use being controlled in Arduino
AnalogRead sentence in plate measures the analog voltage on bending sensor.In the embodiment of the present invention, used in resistance R1
When 22K Ω resistance, the analog voltage range at curvature sensor both ends is just maximum, can be more accurate reflect bending angle
Degree, therefore the resistance of 22K Ω is used in systems.
The simulation pin of curvature sensor, connection simulation pin A0, to obtain the partial pressure value of curvature sensor,
22K Ω divider resistance connects respectively constitutes closing of circuit circuit in A0 and GND (ground wire) and curvature sensor series.
Arduino control panel not only acquires the partial pressure information of curvature sensor, will also be in real time by the real-time nothing of bending information
Line communication mode is sent to host computer.Wireless module APC220 (originator) has 7 pins, but only needs to connect VCC therein,
Tetra- pins of GND, TXD and RXD.Wherein VCC and GND is separately connected the 5V voltage and GND of control circuit board, and TXD and RXD divides
Not Lian Jie circuit board RX and TX.APC220 (receiving end) is connected with host computer, wherein need to connect XbeeUSB adapter, wherein
VCC, GND, TXD and RXD of APC220 is separately connected 5V, GND, RX and TX of adapter.
Data transmission module 13 is connected with the data processing module 14, for sending the electric signal.
In order to further be convenient for user to read data, the embodiment of the present invention passes through data transmission module 13 for the electric signal
It is sent to another terminal, the software for carrying out data processing is mounted in the terminal, it can will be received by the software
Electric signal handled.The function of the specific software corresponding data processing module 14.
Specifically, the data transmission module 13 is wireless transport module, U2 as shown in Figure 2, the data transmission mould
The data sending terminal of block U2 is connected with the data transmission terminal of the control panel U1, the data transmission terminal of the data transmission module U2
It is connected with the data sending terminal of the control panel U1, the model APC220 of the wireless transport module U2.
Data processing module 14 receives the electric signal for being connected with the data processing module 14, and by the electricity
Signal is converted to the first bending angle value.
In the embodiment of the present invention, in the software that terminal is installed, it is provided with and carries out the corresponding voltage value of electric signal and first
It is bent the corresponding calculation formula of angle value, the conversion formula of the first bending angle value are as follows:
Y=3.747*10-5x3-0.026 73x2+3.917x+490.6
Wherein, y is the first bending angle value, and x is the corresponding voltage value of the electric signal.
In the prior art, patient reads reading value difficulty in rehabilitation training, and second people is needed to assist to see training,
So patient can not accurately control global training.
The embodiment of the present invention in order to solve this technical problem, in the case where terminal is the terminals such as mobile phone, PC, specifically,
The system also includes: reminding module, for according to the first bending angle value issues voice prompting, angle prompts picture.Hand
It after machine calculates the first bending angle value, can be broadcasted by voice, to remind whether user reaches the bending of setting
Angle value is indicated this time to train successfully if reaching, is otherwise bent, while also can be avoided user and overtraining.
In the embodiment of the present invention, is used for the ease of Rehabilitation training, curvature sensor and control panel are fixed on
On knee-pad, by knee pad in the injured knee of patient, the acquisition of knee joint bending situation can be thus completed.Such as Fig. 3 and
Shown in Fig. 4, after to knee joint bending degree system energization, port, the messaging parameters such as baud rate, setting are set on software
Training angle target, patient are slowly bent knee, and continually changing analog voltage will pass through channel radio on curvature sensor
Letter module is transmitted to host computer, and host computer is converted into angle information after receiving information, and a variety of by voice, diagram, data etc.
Mode prompts the effect of patient's training.It is tested by multiple combined debugging, knee joint bending degree, which obtains system, can be good at
The knee-sprung various situations of patient under simulated scenario are recorded, data precision is higher, has reached expected requirement.
Specifically, such as Fig. 1, the system also includes:
Number adjustment modules 15 read the of the human body detected part for being connected with the curvature acquisition module 11
Two bending angle value；Specifically, the adjustment module 15 is joint angles measuring scale.
The data processing module 14 is specifically used for: based on the first bending angle value, the second bending angle value to electric signal
It is modified.Specifically, the data processing module 14 is specifically used for:
Determine the first bending angle value and the corresponding angular error of second curvature；
Judge the angular error whether within a preset range；
If not, obtaining multiple value of electrical signals corresponding to the first bending angle value；
Obtain the average value of the multiple value of electrical signals；
Bending angle value is recalculated based on the average value.
It is understood that curvature sensor is measurement sensor important in knee joint bending degree acquisition system,
Its measurement accuracy and effect will have a direct impact on the using effect of this system.Due on curvature sensor analog voltage and
Angle change is not linear relationship, and curvature sensor belongs to flexible sensor, and deformation can be generated after being used for multiple times, interior
Portion's resistance value has minor change, so needing to carry out the processing of data fitting.
During being debugged, when judging that angular error is greater than preset range, curvature sensor is connected to
It is power on circuitry with battery in circuit；One end that curvature sensor is connected with circuit is measured fixed to joint angles
One end of ruler, by the flexural centre of curvature sensor to the rotation center of differential leveling instrument, then by the other end pair of sensor
The angle of differential leveling instrument is bent.Analog voltage is observed by serial ports display in Arduino control panel, and sensor is curved
In bent process, every data of 5 ° of records.Above step carries out five times altogether, records five groups of data altogether, by same angle
Five groups of data be averaged.So adjustment mode through the embodiment of the present invention, by average in subsequent test process
Value obtains corresponding first bending angle value in the formula using setting.Therefore, bending can be improved by further adjusting
The service life of sensor is spent, replacement frequency is reduced, on the other hand also improves the accuracy of measurement.
This software is based on serial module based on the Tkinter module design in python3.7, serial communication.Software circle
Face is broadly divided into setting training objective, device option, and four parts of switch control and training form.In setting training objective
In part, user can set the target power of rehabilitation training, if patient legs bend to set angle angle value in training,
Have corresponding voice prompting.Device option part can show the currently used serial port of radio receiver and can manually select logical
The baud number of letter.Switching control section is shared to be started training and terminates two buttons of training, is pressed and is started that button is trained then to be considered as
Primary training process starts, and conclusion button can be pressed when any on the way and terminates training.It training part can be with number
Learning relational expression is to calculate basis, shows that corresponding text prompt and picture prompting and voice mention according to user's leg curvature situation
Show.Software training logical design is to open software after being inserted into radio receiver on host computer, set target power, later
Click starts to train button, and user can slowly be bent leg, often reach a degree node, and training interface can all have
It shows accordingly and has corresponding voice prompting.In rehabilitation training, software can only show maximum bending degree.Suffer from
Rehabilitation system need to be only worn on lower limb by person, constantly carry out bending training, and doctor can observe in real time bending degree by software, with
Understand the rehabilitation state of observation patient.This system is 0 ° -90 ° using curvature sensor measurable range, wherein being every 15 °
One gear, patient or rehabilitation doctor, which can manually select different stalls, allows patient to be trained, and whether observation reaches trained mesh
's.Training process is intuitionistic and concise, more efficiently and conveniently than conventional training machines.
Host computer rehabilitation training software is the important component that knee joint bending degree obtains system, it assumes responsibility for knee pass
Bent-segment degree measuring system data wireless collection, data processing and display, rehabilitation procedure control start and close, rehabilitation efficacy language
The multiple functions such as sound, diagram and the prompt of data multi-mode, rehabilitation training is voluntarily supervised for patient and provides friendly training interface.
Using the embodiment of the present invention, buckling information is acquired using curvature sensor in knee-joint rehabilitation training field,
Host computer is sent to by wireless transmission method.
Cheap since curvature sensor bulk is small, whole training system manipulation is simple, and training effect is accurate, accounts for
Ground is small in size, and portability is high.Solving traditional knee-joint rehabilitation training Medical Devices, structure is complicated, involves great expense, is not suitable for
The shortcomings that family oriented is applied.And the wireless data transmission carried out between training system and host computer is more a cancellation the line to patient
Cable constraint.
And based on Arduino control panel, by curvature sensor analog voltage and respective angles carry out
Process of fitting treatment has obtained corresponding relation curve graph and relationship.Curvature sensor output voltage value and angle change are simultaneously
Non- is linear relationship, therefore the two is fitted processing by the linear regression algorithm in machine learning, is drawn out corresponding
Graph of relation, and mathematic(al) representation is obtained, measurement accuracy is greatly improved in this way.It is by being fitted obtained relationship
Software design is the basis of trained angle output, also improves measurement accuracy and effect.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (10)
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Cited By (2)
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| 哈尔滨奥松机器人科技股份有限公司: "(SKU:RB-02S040) Flex单向弯曲传感器（FLX- 03A）", Retrieved from the Internet <URL:http://www.alsrobot.cn/wiki/index.php/(SKU:RB-02S040)_FFlex单向弯曲传感器（FLX- 03A）> * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111063163A (en) * | 2019-12-26 | 2020-04-24 | 广东医科大学附属第三医院(佛山市顺德区龙江医院) | Postoperative monitoring system for lower limb fracture |
| CN116407391A (en) * | 2021-12-31 | 2023-07-11 | 深圳市奇诺动力科技有限公司 | Limit angle detection method, limit angle detection system, support, terminal equipment and storage medium |
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Application publication date: 20190507 |