CN105575239B - A kind of reduction of the fracture training pattern angle detection device and its method - Google Patents
A kind of reduction of the fracture training pattern angle detection device and its method Download PDFInfo
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Abstract
The invention discloses a kind of reduction of the fracture training pattern angle detecting method, mainly (accelerometer of the axles of XYZ tri- is included by analyzing nine axle inertia sensing modules, the magnetometer of the axles of XYZ tri- and three sensors of gyroscope of the axles of XYZ tri-, the XYZ axles of three sensors are coaxial or approximate coaxial, they can be that each independent chip is welded on one piece of circuit board, can also be that two of which or three are combined and packaged into a chip) data, the absolute coordinate system and use dynamic data correction algorithm that structure magnetic direction and gravity direction together decide on, calculate the relative attitude of the two under static and dynamic condition.Two nine axle inertia sensing modules are also secured to the both ends of the skeleton model to fracture, i.e. available this method calculates the posture difference of two sections of bones, the information such as angulation displacement between two sections of bones of skeleton model in the training process, rotation displacement can be particularly provided in real time, and then assess the degree of fracture and the effect of reduction therapy.
Description
Technical Field
The invention relates to the field of sensor detection and medical teaching, in particular to a device and a method for detecting the restoration effect (such as simulated fracture restoration and fixation) of two ends of a solid section.
Background
Reduction and fixation of bone fractures is an important medical topic. Mild fractures can be reduced by manipulations and appropriately fixed to ensure the healing of bones and the recovery of motion functions, and severe fractures need surgical reduction. For orthopaedics doctors, either manual reduction or surgical reduction requires considerable experience to be accumulated for better implementation. The existing fracture fixation and reduction training for medical staff is basically realized by the modes of book explanation, anatomical model watching, simulation training on the body of a normal person, patient treatment experience accumulation and the like. Due to the lack of experience of beginners, the treatment experience of the fracture can not be obtained on normal people, and on one hand, the patient is easy to suffer more unnecessarily by accumulating the experience on the patient, and the patient is not easy to accept; on the other hand, experience is difficult to obtain in some rare cases. The simulation human technology emerging in recent years is expected to solve the problem, the human anatomy structure and the disease are simulated through a simulation human solid model, so that a trainee can repeatedly obtain experience close to a real case, and meanwhile, operation information is detected in real time through a certain sensing technology and is transmitted to the trainee, so that a man-machine closed-loop training system is constructed, and a scientific and reliable platform is provided for the training of related medical technologies.
Patent publication No. CN101984327A discloses a device and method for detecting fracture model angles by using accelerometer combination. The detection device has small volume, is convenient to install, and basically does not influence the appearance and relevant operation of a fractured object; the grid contact type rheostat is used as a distance sensing device between two points for the first time, and the resetting conditions of separation displacement and shortening displacement, particularly lateral displacement, are detected; the rotation, angulation, shortening, separation, lateral displacement and the like of the fracture surface restoration can be detected in real time, real-time numerical quantitative judgment can be given to the restoration effect through intelligent evaluation software, and the training effect of the model is greatly improved.
However, there are some problems with using only accelerometers for angle detection.
First, the accuracy of angle detection is limited. Although the detection precision is greatly improved, the technical scheme adopts the accelerometer to measure the angle, on one hand, approximate calculation is adopted, the precision is still good when the angle is small, and the error is increased when the angle is large; on the other hand, the detection angle of the technical scheme has a certain blind area, namely under certain specific conditions (for example, two axes of the accelerometer are vertical to the gravity direction), the detection error is increased sharply, and the method is invalid. To avoid this, there are limitations to the use of this method for detection, including sensor installation, the flow of fracture reduction training, etc. that must be performed in a specific manner.
Secondly, only static angles can be detected, the fracture reduction training process is a dynamic process, and the method cannot accurately detect the bone movement process.
Thirdly, the using process is complicated during detection, and the operability is poor. Due to the defects of the detection method, when the relevant device and method are used for training, the corresponding using flow is required, and the flow for judging the angle is relatively complex and tedious, and the operability is poor.
Disclosure of Invention
Aiming at the prior art, the invention provides the dynamic detection method of the fracture reduction model angle, which has higher precision and is more convenient to use, can provide more accurate and rapid evaluation for the fracture reduction training of an orthopedics doctor by adopting a human body model, and can also be used for the active rehabilitation training of the orthopedics patient.
In order to solve the technical problem, the invention provides an angle detection device for a fracture reduction training model, which comprises a bone model and six-axis inertia sensing modules, wherein the bone model is provided with a fracture part, the fracture part divides the bone model into a first part entity and a second part entity, the end surface of the fracture part of the first part entity is a first fracture end surface, the end surface of the fracture part of the second part entity is a second fracture end surface, the angle detection device also comprises two six-axis inertia sensing modules, the two six-axis inertia sensing modules comprise a first six-axis inertia sensing module and a second six-axis inertia sensing module, the first six-axis inertia sensing module is installed on the first part entity and close to one end of the first fracture end surface, and the second six-axis inertia sensing module is installed on the second part entity and close to one end of the second fracture end surface; each six-axis inertial sensing module comprises a three-axis accelerometer and a three-axis magnetic field meter, and each six-axis inertial sensing module is composed of an electronic chip integrated with the functions of the three-axis accelerometer and the three-axis magnetic field meter or is composed of two independent electronic chips respectively provided with the three-axis accelerometer or the three-axis magnetic field meter; the XYZ axes of the three-axis accelerometer and the XYZ three-axis directions of the three-axis magnetic field meter are consistent pairwise.
The invention relates to a method for detecting the angle of a fracture reduction training model, which is characterized in that an upper computer can receive data collected by a first six-axis inertial sensing module and a second six-axis inertial sensing module to calculate the angulation and the rotation angle by utilizing the device for detecting the angle of the fracture reduction training model, so as to realize static angle detection; detecting angular displacement and rotational displacement in real time according to the calculation result of the angulation and the rotation angle so as to guide fracture reduction training;
the angulation refers to an included angle theta which is smaller than 180 degrees between a length direction central axis of a first part entity and a length direction central axis of a second part entity of the skeleton model, and if the length direction central axis of the skeleton model is consistent with the X-axis direction of the three-axis accelerometer and the three-axis magnetometer, the included angle theta is calculated by the following formula:
in the formula (1), the first and second groups,is X of the first six-axis inertial sensing module 1 Coordinates of the axes under the GHE coordinate system;is X of a second six-axis inertial sensing module 2 Coordinates of the axes under the GHE coordinate system; the GHE coordinate system is a space absolute coordinate system established by coordinate transformation according to the action of gravity and a magnetic field on the first six-axis inertial sensing module and the second six-axis inertial sensing module; wherein: x is the number of 1g 、x 1h And x 1e X respectively representing first six-axis inertial sensing modules 1 Component values, x, of axis data in directions of G-axis, H-axis and E-axis in GHE coordinate system 2g 、x 2h And x 2e X respectively representing second six-axis inertial sensing modules 2 Component numerical values of the axis data in the directions of the G axis, the H axis and the E axis in the GHE coordinate system;
the rotation angle refers to the X of a first fracture end surface on the skeleton model around a first six-axis inertia sensing module 1 Shaft rotation angle and X of second fracture end surface around second six-axis inertia sensing module 2 Difference in shaft rotation angle;
T＝A2-A1 (2)
the calculation of the formula (2) can be performed by data of any one of the X axis and the Y and Z axes; we take the calculation using Z-axis data as an example A1 is the reference axis X c Z with first six-axis inertial sensing module 1 Angle of axes, A2 being reference axis X c Z with a second six-axis inertial sensing module 2 The included angle of the axes;
in the formulas (3) and (4), the reference axis X c Is X of the first six-axis inertial sensing module 1 X of shaft and second six-shaft inertial sensing module 2 Cross multiplication of axes, i.e. X c ＝X 1 ╳X 2 Said reference axis X c X with first six-axis inertial sensing module 1 Perpendicular to the axis, said reference axis X c X with second six-axis inertial sensing module 2 Perpendicular to the axis, said reference axis X c Z with first six-axis inertial sensing module 1 Z of axis and second six-axis inertial sensing module 2 The axes are in the same plane.
The invention also provides another angle detection device for the fracture reduction training model, which comprises a bone model and nine-axis inertia sensing modules, wherein the bone model is provided with a central axis and a fracture part which are arranged along the long axis of the bone model, the fracture part divides the bone model into a first part entity and a second part entity, the end surface of the fracture part of the first part entity is a first fracture end surface, the end surface of the fracture part of the second part entity is a second fracture end surface, the detection device also comprises two nine-axis inertia sensing modules, the two nine-axis inertia sensing modules comprise a first nine-axis inertia sensing module and a second nine-axis inertia sensing module, the first nine-axis inertia sensing module is arranged on the first part entity and close to one end of the first fracture end surface, and the second nine-axis inertia sensing module is arranged on the second part entity and close to one end of the second fracture end surface; each nine-axis inertial sensing module comprises a three-axis accelerometer, a three-axis magnetic field meter and a three-axis gyroscope, and each nine-axis inertial sensing module is composed of an electronic chip integrated with three functions of the three-axis accelerometer, the three-axis magnetic field meter and the three-axis gyroscope, or is composed of three electronic chips with mutually independent functions, or is a combination of an integrated electronic chip with any two functions and an electronic chip with a third independent function; the XYZ three-axis directions of the three-axis accelerometer, the three-axis magnetometer and the three-axis gyroscope are completely consistent; the central axis of the skeleton model is consistent with the direction of any one axis of the three-axis accelerometer.
The angulation theta related to the detection method corresponding to the fracture reduction training model angle detection device is an included angle which is smaller than 180 degrees between a length direction central axis of a first part entity and a length direction central axis of a second part entity of the bone model; the rotation angle T refers to the X of a first fracture end surface on the skeleton model around a first nine-axis inertia sensing module 1 X of second nine-axis inertia sensing module with axis rotation angle and second broken end surface wound 2 The detection method of the difference of the rotation angles of the shafts comprises the following steps:
step one, initialization, including: setting a zero point, setting a dynamic data correction timer and performing initial calculation on an attitude quaternion; wherein: zero point is setPlacing: according to the technical scheme, when a first fracture end face of a first part of entity is overlapped with a second fracture end face of a second part of entity, and two entities form an unbroken complete skeleton model, two identical positions of XYZ axes of a first nine-axis inertial sensing module and a second nine-axis inertial sensing module are installed, and at the moment, an angle and a rotation angle of the two nine-axis inertial sensing modules are zero; or: after the first nine-axis inertial sensing module and the second nine-axis inertial sensing module are installed at random, the skeleton model is reset, the postures of the first nine-axis inertial sensing module and the second nine-axis inertial sensing module are recorded in a static state, and the XYZ axes of the first nine-axis inertial sensing module and the second nine-axis inertial sensing module are consistent in pairs through posture transformation, namely, the angulation and the rotation angle are reset to zero through calculation; dynamic data correction timer setting: setting time intervals for correcting data of a three-axis accelerometer and a three-axis magnetic field in a first nine-axis inertial sensing module and a second nine-axis inertial sensing module when the angle of the angle and the angle of the rotation are calculated in a dynamic state; and (3) performing initial calculation on the attitude quaternion: comparing the postures of the first nine-axis inertial sensing module and the second nine-axis inertial sensing module after the zero point setting is finished with a reference absolute coordinate system, and calculating a posture conversion quaternion q for converting the XYZ coordinate system of the first nine-axis inertial sensing module and the second nine-axis inertial sensing module into the absolute coordinate system under the postures 1 And q is 2 ；
Step two, data acquisition: acquiring triaxial acceleration, triaxial magnetic field intensity and triaxial angular velocity data from a first nine-axis inertial sensing module and a second nine-axis inertial sensing module;
step three, judging the state of the current skeleton model: when the data of the three-axis acceleration, the three-axis magnetic field intensity and the three-axis angular velocity acquired in the step two simultaneously meet the conditions of the following formula (5), formula (6), formula (7) and formula (8), judging that the skeleton model is in a static state, otherwise, judging that the skeleton model is in a dynamic state;
in equations (5) to (8), M1 is an acceleration threshold value of the first nine-axis inertial sensing module, M2 is an acceleration threshold value of the second nine-axis inertial sensing module, N1 is an angular velocity threshold value of the first nine-axis inertial sensing module, N2 is an angular velocity threshold value of the second nine-axis inertial sensing module, a x1 ，a y1 ，a z1 Respectively represents a three-axis accelerometer X in a first nine-axis inertial sensing module 1 ，Y 1 ，Z 1 Axial acceleration value, a x2 ，a y2 ，a z2 Respectively represents a three-axis accelerometer X in a second nine-axis inertial sensing module 2 ，Y 2 ，Z 2 Axial acceleration value, v x1 ，v y1 ，v z1 Respectively represent a three-axis gyroscope X in a first nine-axis inertial sensing module 1 ，Y 1 ，Z 1 Axial angular velocity value, v x2 ，v y2 ，v z2 Respectively represent a three-axis gyroscope X in a second nine-axis inertial sensing module 2 ，Y 2 ，Z 2 An axial angular velocity value;
step four, the real-time measurement of the angle is realized according to the judgment result of the step three, and one of the following two situations is available:
one situation is: when the bone model is in a static state, the angle measurement steps are as follows:
step 1-1, the upper computer receives data collected by a three-axis accelerometer and a three-axis magnetic field meter in a first nine-axis inertial sensing module and a second nine-axis inertial sensing module to calculate an angle theta and a rotation angle T under a static state,
in the formula (9), the first and second groups of the chemical reaction are shown in the specification,x of the first nine-axis inertial sensor module 1 Coordinates of the axis under the GHE coordinate system;x of the second nine-axis inertial sensor module 2 Coordinates of the axis under the GHE coordinate system; the GHE coordinate system is a space absolute coordinate system established by coordinate transformation according to the action of gravity and a magnetic field on the first nine-axis inertial sensing module and the second nine-axis inertial sensing module; wherein: x is the number of 1g 、x 1h And x 1e X respectively representing first nine-axis inertial sensing modules 1 Component values of axis data in directions of G-axis, H-axis and E-axis in GHE coordinate system, x 2g 、x 2h And x 2e X respectively representing second nine-axis inertial sensing modules 2 Component values of the axis data in the directions of the G axis, the H axis and the E axis in the GHE coordinate system;
T＝A2-A1 (10)
in the formula (10), A1 is a reference axis X c Y of first nine-axis inertia sensing module 1 Axis or Z 1 Angle of axes, A2 being reference axis X c Y with second nine-axis inertial sensing module 2 Axis or Z 2 The included angle of the axes; about a reference axis X c Z with first nine-axis inertial sensing module 1 Axis and reference axis X c Z of second nine-axis inertial sensing module 2 The included angle of the axes is as an example:
in formulas (11) and (12), the reference axis X c X of the first nine-axis inertial sensor module 1 X of axis and second nine-axis inertial sensing module 2 Cross multiplication of axes, i.e. X c ＝X 1 ╳X 2 Said reference axis X c X of first nine-axis inertial sensing module 1 Perpendicular to the axis, said reference axis X c X of second nine-axis inertial sensing module 2 Z of vertical-axis and first nine-axis inertial sensing module 1 Z of axis and second nine-axis inertial sensing module 2 The axes are in the same plane;z of the first nine-axis inertial sensing module 1 Coordinates of the axis under the GHE coordinate system;z of the second nine-axis inertial sensing module 2 Coordinates of the axis under the GHE coordinate system;is X c Coordinates of the reference axis under the GHE coordinate system;
step 1-2, zeroing integral data of three-axis gyroscopes in a first nine-axis inertial sensing module and a second nine-axis inertial sensing module, calculating attitude conversion quaternion of the first nine-axis inertial sensing module and the second nine-axis inertial sensing module converted into an absolute coordinate system according to data of the three-axis accelerometers and three-axis magnetic field meters, and finally outputting numerical values of angulation and rotation angle in a static state, so as to realize static angle detection; detecting angular displacement and rotational displacement in real time according to the calculation result of the angulation and the rotation angle, and guiding fracture reduction training;
the other situation is that: when the skeleton model is in a dynamic state, the steps for realizing angle detection are as follows:
step 2-1, firstly, calculating and updating the quaternion of the XYZ coordinate system converted into the absolute coordinate system by using the angular velocity data of the three-axis gyroscopes in the first nine-axis inertial sensing module and the second nine-axis inertial sensing module, then judging whether the timer reaches the time, correcting the quaternion by using the data acquired by the three-axis accelerometers and the three-axis magnetic field meters in the two nine-axis inertial sensing modules after the timer reaches the time, and resetting the timer to zero;
2-2, converting data acquired by the nine-axis sensing module into an absolute coordinate system from a coordinate system of the nine-axis sensing module according to the corrected quaternion, then calculating the dynamic angulation and rotation angle, and finally outputting the dynamic angulation and rotation angle values, so that dynamic angle detection is realized;
in the formula (13), the first and second groups,is X in the first nine-axis inertial sensing module 1 The coordinate representation of the axes in an absolute coordinate system,is X in the second nine-axis inertial sensing module 2 Coordinate representation of the axis in an absolute coordinate system;
in the formula (14), the reference axis X c Is X of a first nine-axis inertial sensing module 1 X of axis and second nine-axis inertial sensing module 2 Cross multiplication of axes, i.e. X c ＝X 1 ╳X 2 Said reference axis X c X of first nine-axis inertia sensing module on one end face of fracture 1 The axis being vertical, said reference axis X c X of second nine-axis inertial sensing module 2 Perpendicular to the axis, said reference axis X c Z with first nine-axis inertial sensing module 1 Z of axis and second nine-axis inertia sensing module 2 The axes are in the same plane;is a reference axis X c Coordinate representation in an absolute coordinate system;
finally, outputting numerical values of the angle and the rotation angle under the dynamic condition, and circularly executing the second step to the fourth step, thereby realizing continuous real-time dynamic angle detection; and detecting the angular displacement and the rotational displacement in real time according to the calculation result of the angulation and the rotation angle under the dynamic state, and guiding the fracture reduction training.
Compared with the prior art, the invention has the beneficial effects that:
(1) The detection is more accurate, and angle information can be directly given; the technical scheme disclosed in the patent document CN101984327A estimates the reset angle information such as angular displacement, rotational displacement, etc., which is difficult to guarantee precision and has failures in some postures, but the angle calculation result provided by the present invention is obtained by strict derivation, and the angle calculation result has no blind area due to the combined use of multiple sensors and is effective in all postures.
(2) The steps of using and judging the reduction degree of the fracture are simpler and more practical. In principle, the invention is accurate to the angle calculation under any posture, so when the invention is used for judging the fracture reduction degree, the invention can directly obtain the angle information and judge the reduction effect without avoiding a specific posture and complicated steps, and is more convenient and practical to use than the technical scheme disclosed by the patent document CN 101984327A.
In a word, the invention uses the small sensor combination to realize the high-precision and blind-area-free detection of the angulation, the rotation displacement angle or the joint angle of the two ends of the bone fracture, and the detection precision only depends on the precision of the sensor and is irrelevant to the posture and the position relation of the sensor. The method realizes dynamic angle detection, simplifies the flow of fracture or dislocation reduction detection, and can greatly improve the detection precision and the training effect of the model.
Drawings
FIG. 1 is a relationship of a geomagnetic field, a gravitational field, and a sensing module coordinate system;
FIG. 2 is a schematic diagram of a GHE reference coordinate system;
FIG. 3 is a schematic illustration of the definition of angulation in examples 1 and 2 of the present invention;
FIG. 4 is a schematic diagram of the definition and calculation of the rotation angle in examples 1 and 2 of the present invention;
FIG. 5 is a flowchart of angle detection according to embodiment 2 of the present invention;
FIG. 6 is a diagram showing an initial state of a bone model in embodiment 3 of the present invention;
FIG. 7 is a schematic illustration of the angular displacement of the bone model in example 3 of the present invention;
FIG. 8 is a schematic diagram of rotational displacement of a bone model in example 3 of the present invention;
FIG. 9 is a schematic diagram of the composite displacement of the bone model in embodiment 3 of the present invention.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to the drawings and specific embodiments, which are only illustrative of the present invention and are not intended to limit the present invention.
The invention discloses a fracture reduction model angle detection device and a detection method thereof for training an orthopedist to perform fracture reduction treatment. The technical key points are that two six-axis or nine-axis sensing modules are simultaneously adhered to two ends of a fractured bone model, then the posture difference of two sections of bones at two ends of a fracture surface is calculated, especially angle information directly corresponding to a human anatomy structure can be given, and then the fracture degree and the effect of reduction treatment are evaluated.
Example 1: static angle detection
The structure of the embodiment 1 of the angle detection device for the fracture reduction training model comprises a bone model and two six-axis inertia sensing modules, wherein the bone model is provided with a fracture part, the fracture part divides the bone model into a first part entity and a second part entity, the end surface of the fracture part of the first part entity is a first fracture end surface, and the end surface of the fracture part of the second part entity is a second fracture end surface.
The basic principle for implementing static angle detection using embodiment 1 is as follows:
when the skeleton model is in a static state, the angle detection is obtained by establishing a certain coordinate system model and carrying out mathematical derivation according to the parameters of acceleration, magnetic field intensity and the like detected by the two six-axis inertial sensing modules. The detection device of the embodiment 1 comprises two six-axis inertia sensing modules, wherein the two six-axis inertia sensing modules comprise a first six-axis inertia sensing module and a second six-axis inertia sensing module, the first six-axis inertia sensing module is installed on a first part entity and is close to one end of a first fracture end face, and the second six-axis inertia sensing module is installed on a second part entity and is close to one end of a second fracture end face. Each six-axis inertial sensing module comprises a three-axis accelerometer and a three-axis magnetic field meter, and each six-axis inertial sensing module is composed of an electronic chip integrated with the functions of the three-axis accelerometer and the three-axis magnetic field meter or is composed of two independent electronic chips respectively provided with the three-axis accelerometer or the three-axis magnetic field meter; the XYZ axes of the three-axis accelerometer and the XYZ three-axis directions of the three-axis magnetic field meter are consistent pairwise.
The following describes a specific derivation process of calculating the angle from the detection data of the six-axis inertial sensor module.
Determination of the GHE reference coordinate System
As shown in fig. 1, when a six-axis inertial sensor module is placed at a certain point on the earth's surface, it will be subjected to gravity and earth's magnetic field simultaneously, if there is no magnetic field interference. The X, Y and Z directions of the coordinate axes which are perpendicular to each other and are used for measuring the six sensing modules are respectively X 0 ，Y 0 ，Z 0 . The acceleration sensor and the magnetic field sensor in the six-axis sensing module can respectively measure the gravity and the magnetic field intensity in X 0 ，Y 0 ，Z 0 The component of the direction. As shown in FIG. 1, the gravity (G) is set at X 0 ，Y 0 ，Z 0 The component on the axis being counted as x g ，y g ，z g And define vector G = (x) g ,y g ,z g ). Setting the earth magnetic field intensity (M) at X 0 ，Y 0 ，Z 0 The component above is counted as x m ，y m ，z m And define vector M = (x) m ,y m ,z m ). And after the six-axis sensing module finishes measurement, the G and M vectors are transmitted to the computing chip. In the present invention, the form of bold letters such as G and up arrow such asRepresenting vectors, i.e. quantities with directions, while others represent scalars, i.e. representing some numerical value. Dot-multiplication and expression of vectors, cross-multiplication and expression of vectors
As shown in fig. 2, after receiving the gravity vector G and the magnetic field strength vector M, the computing chip calculates the cross product of G and M to obtain X 0 Y 0 Z 0 In the coordinate system, the other vector H, which is perpendicular to both the G vector and the M vector, i.e., H = G × M. Then, the cross product of G and H is calculated to obtain X 0 Y 0 Z 0 In the coordinate system, the other vector E, which is perpendicular to both the G and H vectors, i.e., E = G × H. Finally, the G, H and E vectors are normalized (namely, the G, E and H vectors are respectively divided by their moduli | G |, | H |, and | E |), so that three pairwise vertical unit vectors G are obtained 0 ，H 0 ，E 0 . From G 0 H 0 E 0 The determined coordinate system is the reference coordinate system of the system. The coordinate system is completely determined by the geomagnetic field strength and the gravity direction of the position of the chip/module, and is a space absolute coordinate system.
2. Representing the attitude of a sensing module in a spatial absolute coordinate system
After obtaining the space absolute coordinate system GHE, only the core needs to be represented by the GHE coordinate systemAnd acquiring the spatial attitude information of the sensing module by using the XYZ three axes of the sheet/module. The specific method is to calculate X 0 ，Y 0 ，Z 0 Are each at G 0 ，H 0 ，E 0 And then takes the length of this projection as its coordinates in the GHE coordinate system. To calculate the unit vector Z of the Z axis of the chip/module (i.e. the direction opposite to the upper surface of the chip on the sensing module) 0 Coordinates in the GHE coordinate system are taken as an example, and the expressions of the three substrates of the known GHE coordinate system in the XYZ coordinate system are G respectively as described in the first step 0 ，H 0 ，E 0 And Z is 0 Expressed as (0, 1) in an XYZ coordinate system, Z is obtained from a calculation formula of vector projection 0 The projections on the G, H, E axes are:
namely, Z 0 Is expressed as Z in the GHE coordinate system 0GHE ＝(z g ,z h ,z e ) For the same reason, X can be obtained 0 Denoted X in the GHE coordinate system 0GHE ＝(x g ,x h ,x e ),Y 0 Denoted as Y in the GHE coordinate system 0GHE ＝(y g ,y h ,y e )。
Since the GHE coordinate system is uniquely determined by the geomagnetic field strength and gravity in a small-scale space, that is, any sensing module is close to the current distance (< 1 km), the obtained GHE coordinate system is consistent regardless of the posture. By means of the characteristic of the GHE coordinates, the absolute attitude of one sensing module can be calculated, and the relative attitude relationship of a plurality of sensing modules can also be calculated. By utilizing the angle detection device of the fracture reduction training model, the upper computer receives data collected by the first six-axis inertia sensing module and the second six-axis inertia sensing module to calculate the angulation and the rotation angle so as to realize static angle detection; and detecting the angular displacement and the rotational displacement in real time according to the calculation result of the angulation and the rotation angle so as to guide the fracture reduction training.
3. Calculating the relative relation of the postures of a plurality of sensing modules in a space absolute coordinate system by utilizing the postures of the sensing modules
When the relative relation of the space postures of the two six-axis inertia sensing modules is calculated, the following assumptions need to be made on a measured object and an installation method:
(a) Two six-axis inertial sensing modules are respectively arranged on 2 long strip-shaped hard objects to be measured, wherein the heads and the tails of the two hard objects to be measured are close to each other but are not connected with each other, and the X direction of the sensing modules is parallel to the long axis direction of the objects to be measured.
(b) In an initial state, the two six-axis inertial sensing modules are coaxial, and the XYZ directions are consistent; or the two are coaxial through coordinate transformation according to the calculated postures of the two.
3.1 calculate angulation
The angulation refers to an included angle theta which is smaller than 180 degrees between a length direction central axis of a first part entity and a length direction central axis of a second part entity of the skeleton model, the length direction central axis of the skeleton model is consistent with the X-axis direction of the three-axis accelerometer and the three-axis magnetic field meter, and when two end faces are coaxial, the angulation is 0. By this definition, the angulation can be used to characterize the degree of fracture of the object under test (e.g. angle θ in fig. 3), and it can be detected by the angle formed by the X-axes of two six-axis inertial sensor modules installed at the head and tail of the object under test, therefore, the specific method in the present invention is as follows:
in the formula (1), the acid-base catalyst,is X of the first six-axis inertial sensing module 1 Coordinates of the axes under the GHE coordinate system;is X of a second six-axis inertial sensing module 2 Coordinates of the axis under the GHE coordinate system; the GHE coordinate system is a space absolute coordinate system established by coordinate transformation according to the action of gravity and a magnetic field on the first six-axis inertial sensing module and the second six-axis inertial sensing module; wherein: x is the number of 1g ，x 1h And x 1e X respectively representing first six-axis inertial sensing modules 1 Component values, x, of axis data in directions of G-axis, H-axis and E-axis in GHE coordinate system 2g ，x 2h And x 2e X respectively representing second six-axis inertial sensing modules 2 The component values of the axis data in the directions of the G axis, the H axis and the E axis in the GHE coordinate system.
3.2 calculating the rotation angle
The rotation angle T is defined as the sum of the angles of the object to be measured, which are rotated about the central axis, between the two end faces. The rotation angle refers to the X of a first fracture end surface on the skeleton model around a first six-axis inertia sensing module 1 Shaft rotation angle and X of second fracture end surface around second six-axis inertia sensing module 2 Difference in shaft rotation angle; the calculations may be performed using either Y-axis or Z-axis data. The invention takes the calculation using Z-axis data as an example, A1 is a reference axis X c Z with first six-axis inertial sensing module 1 Angle of axes, A2 being reference axis X c Z with a second six-axis inertial sensing module 2 The angle of the axes. When the rotation angle is less than 180 degrees, the rotation angle can be determined by the X axis and the reference axis Z of two sensing modules arranged on the object to be measured c As shown in fig. 4. Reference axis X c Is a cross product of the X-axes of the two end faces, i.e.
X c ＝X 1 ×X 2
Thus X c Axis and X 1 And X 2 Are all vertical, and X can be known according to the right-hand rule of cross multiplication c The axis and the Z axis of the sensing modules at the two ends are in the same plane. Calculating X c Z of a sensor module mounted on the end face 1 1 Included angle of the shaft:
then, X is calculated c Z of a sensor module mounted on the end face 2 2 Included angle of the shaft:
the rotation angle T can be calculated by subtracting A1 from A2:
the calculation results of the angulation and the rotation angle can be presented to the trainee in a certain form through upper computer software and the like, so that the trainee can be given relative position information of broken bones in limbs which cannot be seen in the process of training the fracture reduction, and the training can be better carried out. Angular displacement, rotational displacement, as well as lateral displacement, shortening displacement, distraction displacement, etc., are common forms of displacement in bone fractures. And the degree of angular displacement and rotational displacement reset has an important influence on the reset quality. The method for calculating the angulation and the rotation angle can be used for rapid and real-time detection of angulation displacement and rotation displacement angles, and therefore, the method is used for guiding fracture reduction training.
Example 2: dynamic angle detection:
the structure of embodiment 2 of the angle detection device of the fracture reduction training model is that two six-axis inertia sensing modules in embodiment 1 are replaced by two nine-axis inertia sensing modules, each nine-axis inertia sensing module comprises a three-axis accelerometer, a three-axis magnetic field meter and a three-axis gyroscope, and each nine-axis inertia sensing module consists of an electronic chip integrated with three functions of the three-axis accelerometer, the three-axis magnetic field meter and the three-axis gyroscope, or consists of three electronic chips with mutually independent functions, or consists of an integrated electronic chip with any two functions and an electronic chip with a third independent function; the XYZ three-axis directions of the three-axis accelerometer, the three-axis magnetometer and the three-axis gyroscope are completely consistent; the central axis of the skeleton model is consistent with the direction of any one axis of the three-axis accelerometer. The dynamic angle detection mainly adopts a method of integrating gyroscope data, calculating quaternion and then calculating angulation and rotation angle, and corrects the dynamic angle detection data by a static angle detection method. In the angle detection process using the fracture reduction training model angle detection device of embodiment 2, the angle θ and the rotation angle T involved are the same as the related concepts in embodiment 1.
Because the object is influenced not only by gravity but also by other forces in the motion process (dynamic state), an acceleration is generated, and the resultant acceleration a of the object is not equal to the gravity acceleration g, the data measured by the accelerometer is not the result of the independent action of the gravity field during the motion, and the static angle detection method is not applicable. And the data of the gyroscope in the X, Y and Z directions are angular velocities, and the angular velocities can be generated only in the motion process, so that the gyroscope is only suitable for dynamic angle detection. However, since the two numerical integration calculation processes are very prone to accumulate errors and generate drift, the measurement accuracy of the dynamic angle depends on the accuracy of the sensor itself and whether the accumulated errors are properly corrected. The invention adopts an attitude algorithm of gyroscope attitude iteration + magnetic field and gravity convergence to respectively calculate respective attitudes of two ends of a fracture section, and then calculates respective attitudes according to an obtained attitude quaternion q 1 And q is 2 Rotation matrices are calculated for each of the two sets of angles with the earth's coordinate system, and the attitude representations of the two ends in the initial absolute coordinate system (usually the earth's coordinate system, i.e., with the X and Y axes horizontal and the Z axis vertical upward, opposite to the direction of gravity) are calculated. And the dynamic data is corrected by using the data of the accelerometer and the magnetic field intensity meter at regular time, so that the detection precision of the dynamic angle is improved.
For quaternion operations, the angular velocity matrix can first be expressed as a quaternion (bold matrix, the same applies below)
ω b ＝[0 ω x ω y ω z ]
Wherein the angular velocity (omega) of each part x ，ω y ，ω z ) Read out from the sensor by the processor as the output of the gyroscope. Attitude quaternion q
q＝q(0)+iq(1)+jq(2)+kq(3)
And the updating algorithm of the attitude quaternion is as follows:
here q is est，t-1 Is a quaternion of the relatively geodetic coordinate system at the last time,for quaternion multiplication, Δ t is the time interval between two samples, q ω，t Is the attitude quaternion, q 'at the moment' ω，t The derivative of the attitude quaternion.
For both inertial modules, the respective quaternion and rotation matrix are not identical,
q 1 ＝q 1 (0)+iq 1 (1)+jq 1 (2)+kq 1 (3)
q 2 ＝q 2 (0)+iq 2 (1)+jq 2 (2)+kq 2 (3)
the first nine-axis inertial sensing module is relative to the geodetic coordinate system (X) n Y n Z n ) The rotation matrix of (a):
second nine-axis inertial sensing module relative to geodetic coordinate system (X) n Y n Z n ) Rotational moment ofArraying:
first nine-axis inertial sensing module self coordinate system (X) 1 Y 1 Z 1 ) Relative to the geodetic coordinate system (X) n Y n Z n ) The conversion relation of (1) is as follows:
thus the coordinates of the two nine-axis inertial sensing modules: (Representative vector) in a unified geodetic coordinate system:
the X-axis and Z-axis of the coordinate system defining the two modules are respectively defined as shown in fig. 4, wherein the direction of the X-axis is consistent with the long axis direction of the bone model. The rotation angle T is then:
wherein X c ＝X 1 ×X 2 Is a vector X 1 And X 2 Cross multiplication of (X) c Satisfies the right hand rule, and Z 1 ，Z 2 All located in the same plane.
And the calculation of the fracture section angulation is as follows:
the specific process for implementing angle detection in embodiment 2 of the present invention is shown in fig. 5: firstly, respectively installing a nine-axis inertial sensing module at two ends of a fracture part of a fracture model, and fixing the two nine-axis inertial sensing modules on a skeleton model; then zero point setting is performed. The zero point setting can ensure that every two XYZ axes of the two nine-axis inertial sensing modules are completely consistent (as shown in figure 6) when the bone model of the two nine-axis inertial sensing modules is completely reset (recovered to the normal bone shape before the occurrence of fracture); or after any installation, the bone model is completely reset and is still, the postures of the two nine-axis inertial sensing modules at the moment are recorded, and the posture of one module is transformed to be completely consistent with the posture of the other nine-axis inertial sensing module through posture transformation, wherein the posture transformation is a preprocessing step to be carried out on all the acquired data at the moment. The zero point setting can be set before delivery to the user in factory, and the zero point setting is not required to be set in the use process of the user.
The angle detection device with the two nine-axis inertia sensing modules comprises the following steps:
step one, initialization, including: setting a zero point, setting a dynamic data correction timer and initializing and calculating an attitude quaternion; wherein:
setting a zero point: according to the method, when a first fracture end face of a first part of entity is overlapped with a second fracture end face of a second part of entity, and two entities form an unbroken complete skeleton model, the XYZ axes of a first nine-axis inertial sensing module and a second nine-axis inertial sensing module are installed at the same position in pairs, and at the moment, the angulation and the rotation angle of the two nine-axis inertial sensing modules are zero; or: after the first nine-axis inertia sensing module and the second nine-axis inertia sensing module are installed at random, the skeleton model is reset, the postures of the first nine-axis inertia sensing module and the second nine-axis inertia sensing module are recorded in a static state, and the XYZ axes of the first nine-axis inertia sensing module and the second nine-axis inertia sensing module are enabled to be consistent in pairs through posture transformation, namely, the angulation and the rotation angle are enabled to be zero through calculation;
dynamic data correction timer setting: setting time intervals for correcting data of a three-axis accelerometer and a three-axis magnetic field in a first nine-axis inertial sensing module and a second nine-axis inertial sensing module when the angle of the angle and the angle of the rotation are calculated in a dynamic state;
and (3) performing initial calculation on the attitude quaternion: comparing the postures of the first nine-axis inertial sensing module and the second nine-axis inertial sensing module after the zero point setting is finished with a reference absolute coordinate system, and calculating a posture conversion quaternion q for converting the XYZ coordinate systems of the first nine-axis inertial sensing module and the second nine-axis inertial sensing module into the absolute coordinate system under the postures 1 And q is 2 ；
Step two, data acquisition: acquiring triaxial acceleration, triaxial magnetic field intensity and triaxial angular velocity data from a first nine-axis inertial sensing module and a second nine-axis inertial sensing module;
step three, judging the state of the current skeleton model: when the data of the three-axis acceleration, the three-axis magnetic field intensity and the three-axis angular velocity acquired in the step two simultaneously meet the conditions of the following formula (5), formula (6), formula (7) and formula (8), judging that the skeleton model is in a static state, otherwise, judging that the skeleton model is in a dynamic state;
in equations (5) to (8), M1 is the acceleration threshold value of the first nine-axis inertial sensor module, M2 is the acceleration threshold value of the second nine-axis inertial sensor module, N1 is the angular velocity threshold value of the first nine-axis inertial sensor module, N2 is the angular velocity threshold value of the second nine-axis inertial sensor module, a x1 ，a y1 ，a z1 Respectively represents a three-axis accelerometer X in a first nine-axis inertial sensing module 1 ，Y 1 ，Z 1 Axial acceleration value, a x2 ，a y2 ，a z2 Respectively represent a three-axis accelerometer X in a second nine-axis inertial sensing module 2 ，Y 2 ，Z 2 Axial acceleration value, v x1 ，v y1 ，v z1 Respectively represent a three-axis gyroscope X in a first nine-axis inertial sensing module 1 ，Y 1 ，Z 1 Axial angular velocity value, v x2 ，v y2 ，v z2 Respectively represent a three-axis gyroscope X in a second nine-axis inertial sensing module 2 ，Y 2 ，Z 2 An axial angular velocity value;
step four, realizing the real-time measurement of the angle according to the judgment result of the step three, wherein one of the following two conditions is adopted:
one such situation is: when the bone model is in a static state, the angle measurement steps are as follows:
step 1-1, the upper computer receives data collected by a three-axis accelerometer and a three-axis magnetic field meter in a first nine-axis inertial sensing module and a second nine-axis inertial sensing module to calculate an angle theta and a rotation angle T under static state,
in the formula (9), the first and second groups,is X of the first nine-axis inertial sensing module 1 Coordinates of the axis under the GHE coordinate system;is X of a second nine-axis inertial sensing module 2 Coordinates of the axes under the GHE coordinate system; the GHE coordinate system is a space absolute coordinate system which is established through coordinate transformation according to the action of gravity and a magnetic field on the first nine-axis inertial sensing module and the second nine-axis inertial sensing module; wherein: x is the number of 1g 、x 1h And x 1e X respectively representing first nine-axis inertial sensing modules 1 Component values, x, of axis data in directions of G-axis, H-axis and E-axis in GHE coordinate system 2g 、x 2h And x 2e X for second nine-axis inertial sensor modules 2 Component numerical values of the axis data in the directions of the G axis, the H axis and the E axis in the GHE coordinate system;
T＝A2-A1 (10)
in the formula (42), A1 is a reference axis X c Y of first nine-axis inertial sensing module 1 Axis or Z 1 Angle of axes, A2 being reference axis X c Y of second nine-axis inertial sensing module 2 Axis or Z 2 The included angle of the axes; about a reference axis X c Z with first nine-axis inertial sensing module 1 Axis and reference axis X c Z with a second nine-axis inertial sensing module 2 The included angle of the axes is as an example:
formula (11) andin formula (12), the reference axis X c Is X of the first nine-axis inertial sensing module 1 X of axis and second nine-axis inertial sensing module 2 Cross multiplication of axes, i.e. X c ＝X 1 ╳X 2 Said reference axis X c X of first nine-axis inertial sensing module 1 Perpendicular to the axis, said reference axis X c X of second nine-axis inertial sensing module 2 Perpendicular to the axis, said reference axis X c Z of first nine-axis inertial sensing module 1 Z of axis and second nine-axis inertia sensing module 2 The axes are in the same plane;z of the first nine-axis inertial sensing module 1 Coordinates of the axis under the GHE coordinate system;z of the second nine-axis inertial sensing module 2 Coordinates of the axis under the GHE coordinate system;is X c Coordinates of the reference axis in the GHE coordinate system;
step 1-2, zeroing integral data of three-axis gyroscopes in the first nine-axis inertial sensing module and the second nine-axis inertial sensing module, calculating attitude conversion quaternion converted from XYZ coordinate systems of the first nine-axis inertial sensing module and the second nine-axis inertial sensing module to absolute coordinate systems according to data of the three-axis accelerometers and the three-axis magnetic field meter, and finally outputting numerical values of angles and rotation angles in a static state, so as to realize static angle detection; detecting angular displacement and rotational displacement in real time according to the calculation result of the angulation and the rotation angle, and guiding fracture reduction training;
the other situation is that: when the skeleton model is in a dynamic state, the steps for realizing angle detection are as follows:
step 2-1, firstly, calculating and updating the quaternion of the XYZ coordinate system converted into the absolute coordinate system by using the angular velocity data of the three-axis gyroscopes in the first nine-axis inertial sensing module and the second nine-axis inertial sensing module, then judging whether the timer reaches the time, correcting the quaternion by using the data acquired by the three-axis accelerometers and the three-axis magnetic field meters in the two nine-axis inertial sensing modules after the timer reaches the time, and resetting the timer to zero;
2-2, converting data acquired by the nine-axis sensing module into an absolute coordinate system from a coordinate system of the nine-axis sensing module according to the corrected quaternion, then calculating the dynamic angulation and rotation angle, and finally outputting the dynamic angulation and rotation angle values, so that dynamic angle detection is realized;
in the formula (13), the first and second groups,is X in the first nine-axis inertial sensing module 1 The coordinate representation of the axes in an absolute coordinate system,is X in the second nine-axis inertial sensing module 2 Coordinate representation of the axis in an absolute coordinate system;
in the formula (14), the reference axis X c Is X of a first nine-axis inertial sensing module 1 X of axis and second nine-axis inertial sensing module 2 Cross multiplication of axes, i.e. X c ＝X 1 ╳X 2 Said reference axis X c X of first nine-axis inertia sensing module on one end face of fracture 1 The axis being vertical, said reference axis X c X of second nine-axis inertial sensing module 2 The axis being vertical, said reference axis X c Z of first nine-axis inertial sensing module 1 Shaft and second nine-shaft inertial sensorZ of a sexual sensing module 2 The axes are in the same plane;is a reference axis X c Coordinate representation in an absolute coordinate system;
finally, outputting numerical values of the angle and the rotation angle under the dynamic condition, and circularly executing the second step to the fourth step, thereby realizing continuous real-time dynamic angle detection; and detecting angular displacement and rotational displacement in real time according to the calculation result of the angulation and the rotation angle under the dynamic state, and guiding fracture reduction training.
Static and dynamic coexistence case:
in the static state, the coordinates are firstly converted into a GHE coordinate system, then the static angulation is calculated according to the calculation method, and the static rotation angle is calculated. And (3) returning the integral data of the gyroscope to zero, resetting quaternion according to the accelerometer and the magnetic field intensity counting data, and finally outputting the numerical values of the angle of angulation and the rotation angle.
If the judgment result is that the device is in a dynamic state, updating the quaternion by using the angular velocity data of the gyroscope, judging whether the timer reaches the time, if so, correcting the quaternion by using the data of the accelerometer and the magnetometer, and returning the timer to zero; if not, the timer continues to count. And then converting the coordinate system into a geodetic coordinate system according to the quaternion, then calculating a dynamic angle, calculating a dynamic rotation angle, and finally outputting numerical values of the angle and the rotation angle.
The final output result only has one pair of the angle and the rotation angle, namely, the angle and the rotation angle have only one value at any time. The process of collecting data to calculate the angle is continuously cycled until the user closes the program. By utilizing the output angulation and rotation angle data, software can be further developed for judging the fracture reduction condition.
Example 3: the application of model detection principle is described by taking a human humeral shaft fracture model as an example.
As shown in fig. 6, 1 is the proximal end of the humerus model, and 2 is the distal end of the humerus modelThe sensor module comprises a near-end nine-axis inertial sensing module 3 and a far-end nine-axis inertial sensing module 4. The coordinate systems of the three-axis accelerometers of the near-end nine-axis inertial sensing module 3 and the far-end nine-axis inertial sensing module 4 are respectively X 1 Y 1 Z 1 ，X 2 Y 2 Z 2 At this time, the postures of the near-end nine-axis inertial sensing module 3 and the far-end nine-axis inertial sensing module 4 are the same, and the directions of the coordinate systems are completely consistent. The directions x and z are indicated by arrows, and the direction y is perpendicular to the screen inward. Correspondingly, the magnetic field intensity and the direction of the gravity field are related to the real-time attitude of the sensing module, and the GHE coordinate system and the coordinate values are calculated according to the method. Therefore, in a static state (as described above, the acceleration and the angular velocity are respectively greater than a certain smaller value as a determination criterion), the angular displacement and the rotational displacement between the two ends of the cross section of the bone model represented by the near-end nine-axis inertial sensor module 3 and the far-end nine-axis inertial sensor module 4 are both zero regardless of whether the components of the gravity and the magnetic field intensity in each direction are the same.
As shown in fig. 7, after fracture, the proximal and distal humeri are angled in the direction of the humeral shaft under muscle traction, i.e. an angular displacement is formed. At this time, the attitude of the near-end nine-axis inertial sensor module 3 changes relative to the far-end nine-axis inertial sensor module 4, and y of the near-end nine-axis inertial sensor module 3 1 Direction unchanged, but x 1 、z 1 The direction is rotated by an angle, which is the angle of angular displacement. Accordingly, gravity and magnetic field intensity are x 1 、z 1 The component in the direction also changes. According to x of the near-end nine-axis inertia sensing module 3 at this time 1 、z 1 The component values in the directions, using the method described above, are calculated as follows:
as shown in fig. 8, the rotational displacement occurs when the bone rotates around the humeral shaft under muscle traction, and at this time, the posture of the far-end nine-axis inertial sensor module 4 changes relative to the near-end nine-axis inertial sensor module 3,x of the remote nine-axis inertial sensor module 4 2 X of direction and near-end nine-axis inertial sensor module 4 1 Z of the far-end nine-axis inertial sensor module 4 in the same direction 2 ，y 2 The directions rotate around the x axis by a certain angle, and the angle is the angle value of the rotation displacement. Z of the corresponding distal nine-axis inertial sensor module 4 2 ，y 2 The gravity and the magnetic field intensity component in the direction can change, and the rotation displacement angle T at the moment can be calculated according to the numerical values detected by the two inertia sensing modules by the method:
and (3) calculating the angle under a dynamic condition (taking the acceleration and the angular velocity respectively larger than or equal to a certain smaller value as a judgment standard). At the moment, the attitude quaternion q is integrated and calculated by a gyroscope 1 And q is 2 The coordinates of the module (e.g., magnetic field strength data) are then transformed to the geodetic coordinate system using a rotation matrix, and the fracture angulation is calculated as:
a rotation angle T of
In the formulaThe calculation method is realized by the steps.
In the case of fracture, the rotation displacement and the angular displacement often occur simultaneously to form a composite displacement, as shown in fig. 9, the three axes of the coordinate systems of the two inertial sensors are different, the components of gravity and magnetic field intensity are changed, and the two angular displacements can be calculated by the same calculation method under static or dynamic conditions.
The method can also be used for detecting the angle of the human joint, two inertial sensing modules are respectively attached and installed at the positions with less muscle and fat tissues at two ends of the human joint (such as a knee joint), the two ends of the joint are respectively used as the two ends of the fracture model, and the detected and calculated angle can be corresponding to the angle of the human joint. If the detected angulation of the invention can be corresponding to the extension/flexion angle of the joint and the detected rotation angle of the invention can be corresponding to the external rotation/internal rotation angle of the joint, the corresponding angle change of the human joint can be detected in real time. The detection of the angle change of the human joint can be further used in the fields of gait detection, motion rehabilitation and the like.
While the present invention has been described with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are illustrative only and not restrictive, and various modifications which do not depart from the spirit of the present invention and which are intended to be covered by the claims of the present invention may be made by those skilled in the art.
Claims (4)
1. The utility model provides a fracture reduction training model angle detection device, includes skeleton model and host computer, the skeleton model has fracture department, fracture department divides into first part entity and second part entity with the skeleton model, the terminal surface of the fracture department of first part entity is first fracture terminal surface, the terminal surface of the fracture department of second part entity is second fracture terminal surface, its characterized in that:
the detection device further comprises two six-axis inertia sensing modules, wherein the two six-axis inertia sensing modules comprise a first six-axis inertia sensing module and a second six-axis inertia sensing module, the first six-axis inertia sensing module is installed on the first part of entity and close to one end of the first fracture end face, and the second six-axis inertia sensing module is installed on the second part of entity and close to one end of the second fracture end face;
each six-axis inertial sensing module comprises a three-axis accelerometer and a three-axis magnetic field meter, and each six-axis inertial sensing module is composed of an electronic chip integrated with the functions of the three-axis accelerometer and the three-axis magnetic field meter or is composed of two independent electronic chips respectively provided with the three-axis accelerometer or the three-axis magnetic field meter; the XYZ axes of the three-axis accelerometer and the XYZ three-axis directions of the three-axis magnetic field meter are consistent in pairs respectively.
2. A fracture reduction training model angle detection method is characterized in that the fracture reduction training model angle detection device of claim 1 is utilized, and an upper computer receives data collected by a first six-axis inertial sensing module and a second six-axis inertial sensing module to calculate an angulation and a rotation angle so as to realize static angle detection; detecting angular displacement and rotational displacement in real time according to the calculation result of the angulation and the rotation angle so as to guide fracture reduction training;
the angulation refers to an included angle theta which is smaller than 180 degrees between a length direction central axis of a first part entity and a length direction central axis of a second part entity of the skeleton model, and if the length direction central axis of the skeleton model is consistent with the X-axis direction of the three-axis accelerometer and the three-axis magnetometer, the included angle theta is calculated by the following formula:
in the formula (1), the first and second groups,is X of the first six-axis inertial sensing module 1 Coordinates of the axis under the GHE coordinate system;is X of a second six-axis inertial sensing module 2 Coordinates of the axis under the GHE coordinate system; the GHE coordinate system is based on the actions of gravity and magnetic field on the first six-axis inertial sensing module and the second six-axis inertial sensing moduleUsing a spatial absolute coordinate system established by coordinate transformation; wherein: x is the number of 1g 、x 1h And x 1e X respectively representing first six-axis inertial sensing modules 1 Component values, x, of axis data in directions of G-axis, H-axis and E-axis in GHE coordinate system 2g 、x 2h And x 2e X respectively representing second six-axis inertial sensing modules 2 Component numerical values of the axis data in the directions of the G axis, the H axis and the E axis in the GHE coordinate system;
the rotation angle refers to the X of a first fracture end surface on the skeleton model around a first six-axis inertia sensing module 1 Shaft rotation angle and X of second fracture end surface around second six-axis inertia sensing module 2 Difference in shaft rotation angle;
T＝A2-A1 (2)
the calculation of the formula (2) can be performed by data of any one of the X axis and the Y and Z axes; we take the example of calculations using Z-axis data; a1 is a reference axis X c Z of first six-axis inertial sensing module 1 Angle of axes, A2 being reference axis X c Z of second six-axis inertial sensing module 2 The included angle of the axes;
in the formulas (3) and (4), the reference axis X c Is X of the first six-axis inertial sensing module 1 X of axis and second six-axis inertial sensing module 2 Cross multiplication of axes, i.e. X c ＝X 1 ╳X 2 Said reference axis X c X with first six-axis inertial sensing module 1 The axis being vertical, said reference axis X c X with second six-axis inertial sensing module 2 Axial perpendicular, X c Z of first six-axis inertial sensing module 1 Z of axis and second six-axis inertial sensing module 2 The axes being in the same planeAnd (4) the following steps.
3. The utility model provides a fracture reduction training model angle detection device, includes the skeleton model, the skeleton model has center pin and the fracture department of splitting that sets up along skeleton model major axis, the fracture department divides the skeleton model into first part entity and second part entity, the terminal surface of the fracture department of first part entity is first fracture terminal surface, the terminal surface of the fracture department of second part entity is second fracture terminal surface, its characterized in that:
the detection device further comprises two nine-axis inertia sensing modules, wherein the two nine-axis inertia sensing modules comprise a first nine-axis inertia sensing module and a second nine-axis inertia sensing module, the first nine-axis inertia sensing module is installed on the first part entity and close to one end of the first fracture end face, and the second nine-axis inertia sensing module is installed on the second part entity and close to one end of the second fracture end face;
each nine-axis inertial sensing module comprises a three-axis accelerometer, a three-axis magnetic field meter and a three-axis gyroscope, and each nine-axis inertial sensing module is composed of an electronic chip integrated with three functions of the three-axis accelerometer, the three-axis magnetic field meter and the three-axis gyroscope, or is composed of three electronic chips with mutually independent functions, or is a combination of an integrated electronic chip with any two functions and an electronic chip with a third independent function; the XYZ three-axis directions of the three-axis accelerometer, the three-axis magnetometer and the three-axis gyroscope are completely consistent.
4. A fracture reduction training model angle detection method, characterized in that, the fracture reduction training model angle detection device of claim 3 is used, the length direction central axis of the skeleton model is set to be consistent with the X-axis direction of the three-axis accelerometer and the three-axis magnetic field meter, and the angulation theta involved in the detection method is the included angle of less than 180 degrees between the length direction central axis of the first part entity and the length direction central axis of the second part entity of the skeleton model; the rotation angle T refers to the position of a first fracture end surface on the skeleton model around a first nine-axis inertial sensing moduleX 1 Shaft rotation angle and X of second broken end surface around second nine-shaft inertia sensing module 2 The method for detecting the difference of the rotation angles of the shafts comprises the following steps:
step one, initialization, including: setting a zero point, setting a dynamic data correction timer and performing initial calculation on an attitude quaternion; wherein:
setting a zero point: according to the method, when a first fracture end face of a first part of entity is overlapped with a second fracture end face of a second part of entity, and two entities form an unbroken complete skeleton model, the XYZ axes of a first nine-axis inertial sensing module and a second nine-axis inertial sensing module are installed at the same position in pairs, and at the moment, the angulation and the rotation angle of the two nine-axis inertial sensing modules are zero; or: after the first nine-axis inertial sensing module and the second nine-axis inertial sensing module are installed at random, the skeleton model is reset, the postures of the first nine-axis inertial sensing module and the second nine-axis inertial sensing module are recorded in a static state, and the XYZ axes of the first nine-axis inertial sensing module and the second nine-axis inertial sensing module are consistent in pairs through posture transformation, namely, the angulation and the rotation angle are reset to zero through calculation;
dynamic data correction timer setting: setting time intervals for correcting data of a three-axis accelerometer and a three-axis magnetic field in a first nine-axis inertial sensing module and a second nine-axis inertial sensing module when the angle of the angle and the angle of the rotation are calculated in a dynamic state;
and (3) performing initial calculation on the attitude quaternion: comparing the postures of the first nine-axis inertial sensing module and the second nine-axis inertial sensing module after the zero point setting is finished with a reference absolute coordinate system, and calculating a posture conversion quaternion q for converting the XYZ coordinate systems of the first nine-axis inertial sensing module and the second nine-axis inertial sensing module into the absolute coordinate system under the postures 1 And q is 2 ；
Step two, data acquisition: acquiring triaxial acceleration, triaxial magnetic field intensity and triaxial angular velocity data from a first nine-axis inertial sensing module and a second nine-axis inertial sensing module;
step three, judging the state of the current skeleton model: when the data of the three-axis acceleration and the three-axis angular velocity acquired in the step two simultaneously meet the conditions of the following formula (5), formula (6), formula (7) and formula (8), judging that the skeleton model is in a static state, otherwise, judging that the skeleton model is in a dynamic state;
in equations (5) to (8), M1 is the acceleration threshold value of the first nine-axis inertial sensor module, M2 is the acceleration threshold value of the second nine-axis inertial sensor module, N1 is the angular velocity threshold value of the first nine-axis inertial sensor module, N2 is the angular velocity threshold value of the second nine-axis inertial sensor module, a x1 ，a y1 ，a z1 Respectively represents a three-axis accelerometer X in a first nine-axis inertial sensing module 1 ，Y 1 ，Z 1 Axial acceleration value, a x2 ，a y2 ，a z2 Respectively represents a three-axis accelerometer X in a second nine-axis inertial sensing module 2 ，Y 2 ，Z 2 Axial acceleration value, v x1 ，v y1 ，v z1 Respectively represent a three-axis gyroscope X in a first nine-axis inertial sensing module 1 ，Y 1 ，Z 1 Axial angular velocity value, v x2 ，v y2 ，v z2 Respectively represent a three-axis gyroscope X in a second nine-axis inertial sensing module 2 ，Y 2 ，Z 2 An axial angular velocity value;
step four, realizing the real-time measurement of the angle according to the judgment result of the step three, wherein one of the following two conditions is adopted:
one situation is: when the bone model is in a static state, the angle measurement steps are as follows:
step 1-1, the upper computer receives data collected by a three-axis accelerometer and a three-axis magnetic field meter in a first nine-axis inertial sensing module and a second nine-axis inertial sensing module to calculate an angle theta and a rotation angle T under a static state,
in the formula (9), the first and second groups,is X of the first nine-axis inertial sensing module 1 Coordinates of the axis under the GHE coordinate system;is X of a second nine-axis inertial sensing module 2 Coordinates of the axis under the GHE coordinate system; the GHE coordinate system is a space absolute coordinate system which is established through coordinate transformation according to the action of gravity and a magnetic field on the first nine-axis inertial sensing module and the second nine-axis inertial sensing module; wherein: x is the number of 1g 、x 1h And x 1e X respectively representing first nine-axis inertial sensing modules 1 Component values, x, of axis data in directions of G-axis, H-axis and E-axis in GHE coordinate system 2g 、x 2h And x 2e X respectively representing second nine-axis inertial sensing modules 2 Component values of the axis data in the directions of the G axis, the H axis and the E axis in the GHE coordinate system;
T＝A2-A1 (10)
in the formula (10), A1 is a reference axis X c Y of first nine-axis inertia sensing module 1 Axis or Z 1 Angle of axes, A2 being reference axis X c Y with second nine-axis inertial sensing module 2 Axis or Z 2 The included angle of the axes; about a reference axis X c Z of first nine-axis inertial sensing module 1 Axis and reference axis X c And the second nine shaftZ of inertial sensing module 2 The included angle of the axes is as an example:
in formulas (11) and (12), the reference axis X c Is X of the first nine-axis inertial sensing module 1 X of axis and second nine-axis inertial sensing module 2 Cross multiplication of axes, i.e. X c ＝X 1 ╳X 2 Said reference axis X c X of first nine-axis inertial sensing module 1 Perpendicular to the axis, said reference axis X c X of second nine-axis inertial sensing module 2 The axis is also vertical, Z of the first nine-axis inertial sensing module 1 Z of axis and second nine-axis inertial sensing module 2 The axes are in the same plane;z of the first nine-axis inertial sensor module 1 Coordinates of the axis under the GHE coordinate system;z of the second nine-axis inertial sensing module 2 Coordinates of the axes under the GHE coordinate system;is X c Coordinates of the reference axis under the GHE coordinate system;
step 1-2, zeroing integral data of three-axis gyroscopes in the first nine-axis inertial sensing module and the second nine-axis inertial sensing module, calculating attitude conversion quaternion converted from XYZ coordinate systems of the first nine-axis inertial sensing module and the second nine-axis inertial sensing module to absolute coordinate systems according to data of the three-axis accelerometers and the three-axis magnetic field meter, and finally outputting numerical values of angles and rotation angles in a static state, so as to realize static angle detection; detecting angular displacement and rotational displacement in real time according to the calculation result of the angulation and the rotation angle, and guiding fracture reduction training;
the other situation is that: when the skeleton model is in a dynamic state, the steps for realizing angle detection are as follows:
step 2-1, firstly, calculating and updating the quaternion of the XYZ coordinate system converted into the absolute coordinate system by using the angular velocity data of the three-axis gyroscopes in the first nine-axis inertial sensing module and the second nine-axis inertial sensing module, then judging whether the timer reaches the time, correcting the quaternion by using the data acquired by the three-axis accelerometers and the three-axis magnetic field meters in the two nine-axis inertial sensing modules after the timer reaches the time, and resetting the timer to zero;
2-2, converting data acquired by the nine-axis sensing module into an absolute coordinate system from a coordinate system of the nine-axis sensing module according to the corrected quaternion, then calculating the dynamic angulation and rotation angle, and finally outputting the dynamic angulation and rotation angle values, so that dynamic angle detection is realized;
in the formula (13), the first and second groups,is X in the first nine-axis inertial sensing module 1 The coordinate representation of the axes in an absolute coordinate system,is X in the second nine-axis inertial sensing module 2 Coordinate representation of the axis in an absolute coordinate system;
in the formula (14), the reference axis X c Is X of a first nine-axis inertial sensing module 1 X of axis and second nine-axis inertial sensing module 2 Cross multiplication of axes, i.e. X c ＝X 1 ╳X 2 Said reference axis X c X of first nine-axis inertia sensing module on one end face of fracture 1 The axis being vertical, said reference axis X c X of second nine-axis inertial sensing module 2 The axis is also vertical, the reference axis X c Z with first nine-axis inertial sensing module 1 Z of axis and second nine-axis inertial sensing module 2 The axes are in the same plane;is a reference axis X c Coordinate representation in an absolute coordinate system;
finally, outputting numerical values of the angle and the rotation angle under the dynamic condition, and circularly executing the second step to the fourth step, thereby realizing continuous real-time dynamic angle detection; and detecting the angular displacement and the rotational displacement in real time according to the calculation result of the angulation and the rotation angle under the dynamic state, and guiding the fracture reduction training.
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