CN2735933Y - Human joint motion attitude measuring instrument based on sensor - Google Patents

Abstract

The utility model relates to a human joint movement attitude measuring instrument, which comprises at least one measuring unit, wherein the measuring unit comprises a plurality of sensors, an A/D converter and a microprocessor; the A/D converter is connected with the sensor and is used for carrying out digital-to-analog conversion on the measurement signal; the microprocessor is connected with the A/D converter, receives the output digital signal, converts the digital signal and outputs the converted digital signal to the hub; a computer for processing and calculating according to the measuring signal of the measuring unit; the concentrator is connected between the measuring unit and the computer and transmits the signal of the measuring unit to the computer; one or more port driving chips included in the hub transmit the signals output by the measuring unit to corresponding communication ports of the computer. The measuring instrument is a digital electronic instrument, and the measurement is quick and accurate; the three motion postures of rotation, flexion and extension and lateral flexion can be measured, the motion postures of the bones at the two ends of the joint can be measured simultaneously, and the influence of the mutual motion of the bones at the two ends of the joint on the measurement result can be eliminated.

Description

Sensor-based measuring instrument for human joint motion and attitude

technical field

The utility model belongs to the medical and health field, more specifically, the utility model relates to a measuring instrument for human body joint motion posture and range of motion.

Background technique

The human body is composed of 206 bones, and almost every two bones have joint links. The main joints of the human body are: cervical spine, genus joints, elbow joints, hand joints, hip joints, knee joints, foot joints, etc. At present, the main diagnostic methods for joint diseases in medicine are limited to a few methods such as fluoroscopy, filming, and visual inspection. X-ray and filming cannot be used for dynamic measurement, and visual inspection is not easy to quantify.

Usually, without fixation, the movement of the human body will cause the bones connected at the two ends of the joint to be involved with each other. For example, when measuring the head and neck movement of the human body, the trunk sometimes has implicated movement, but in the clinical examination of cervical spondylosis, what is concerned is the relative movement of the head and neck relative to the trunk. Existing measuring instruments cannot measure the movement of the bones at both ends of the joint at the same time, so they cannot accurately measure the relative movement of the bones at both ends of the joint. Measuring impact.

Measuring joint movement posture provides joint movement posture and relative posture of bones on both sides of the joint, and provides auxiliary diagnostic data for various joint diseases. Taking cervical joint measurement as an example, in the clinical examination of cervical spondylosis, it is often necessary to measure the range of motion of the cervical spine, that is, the range of motion of the human head when the human trunk is fixed. Through the measurement and monitoring of the range of motion of the head and the process of motion posture, some lesions of the cervical spine can be diagnosed. At the same time, before and after the treatment of cervical spondylosis, it is also necessary to quantitatively measure the movement of the head and neck to evaluate the effect of treatment.

With the development of sensor devices and signal processing technology, sensors are widely used in many measurement fields. But so far, there is no technology that applies sensor devices to the measurement of human joint motion attitude.

The applicant provided a method for measuring the attitude of a carrier with a sensor consisting of a three-axis magnetometer and a three-axis accelerometer in the Chinese patent "Micro-Navigation System Based on Micro-Electro-Mechanical Technology" with the application number "01110135.0". Incorporated by reference in this application. In this method, a three-axis accelerometer is used to measure the components of the gravitational acceleration g on the three orthogonal axes of the carrier coordinate system, and a three-axis magnetometer is used to measure the components of the geomagnetic induction h on the three orthogonal axes of the carrier coordinate system , according to the expression of gravitational acceleration g and geomagnetic induction h in the geographic coordinate system, use the direction cosine matrix to express the mutual conversion relationship between the geographic coordinate system and the vehicle coordinate system to establish a system of equations, and finally obtain the attitude angle of the vehicle. When the carrier moves smoothly with a certain attitude, the accuracy of the attitude angle measured by this method is relatively high. However, when the carrier moves with acceleration or is disturbed during the movement, for example, when the aircraft is affected by the airflow during flight and has a certain acceleration, the acceleration measured by the triaxial accelerometer includes both the gravitational acceleration and the acceleration of the carrier. At this time, the attitude angle calculated by this method has a considerable error.

The applicant provided a carrier attitude measurement method and system that can be used for aircraft in the Chinese patent application "A carrier attitude measurement method and its system" with the application number "200410004660.3", which is also introduced in this application as refer to. In this application, a total of nine sensors including three accelerometers, three magnetometers and three rate gyroscopes are used to form a sensor group for attitude measurement, and the attitude angle of the aircraft is calculated according to the signals measured by these sensors. In the attitude calculation, the algorithm including the Kalman filter is used for data processing, and the stable gyro signal is used to reduce the influence of the motion acceleration on the system, and there is no problem of the integral drift of the gyro, so as to obtain more accurate and more accurate results. The attitude angle of the aircraft is stable, and the full attitude measurement of the aircraft can be realized.

Contents of the invention

One of the purposes of this utility model is to provide a human body joint motion posture measuring instrument, which uses sensors and data processing devices to measure the motion posture of human body joints; the second purpose of this utility model is to provide a human body joint motion posture measurement instrument. Attitude measuring instrument, which can eliminate the influence of mutual involvement of the bones at both ends of the joints of the human body, thereby measuring the relative movement posture of the bones at the two ends of the joints.

In order to achieve the above object, the utility model provides a sensor-based human body joint motion posture measuring instrument, including:

At least one measurement unit, the measurement unit includes several sensors; the sensors of the measurement unit are selected from at least one of accelerometers, magnetometers and gyroscopes. The sensors of the measuring unit are arranged along three orthogonal axes of a coordinate system;

a computer for processing calculations based on the measurement signal of said at least one measurement unit;

A hub to transmit the signal from the measuring unit to the computer.

The measurement unit also includes: an A/D converter, which performs digital-to-analog conversion on the measurement signal of the sensor; a microprocessor, which receives the digital signal output by the A/D converter, and converts the digital signal output to the hub.

The measuring unit also includes a filtering circuit and/or an amplifying circuit connected to the sensor.

The sensors in the measuring unit are micro sensors.

The at least one measuring unit includes first and second measuring units; the first measuring unit is fixed at one of the two ends of the human body joint during work, and the second measuring unit is fixed at the two ends of the human body joint during work the other end of the.

The hub includes one or more port driver chips, and the port driver chip transmits the signal output by the measurement unit to the corresponding communication port of the computer.

The hub also includes: a microprocessor, which converts the signals output by each measuring unit into signals which can be recognized by the port driver chip; a voltage stabilizing circuit, which is used to provide required voltage signals to components in the hub.

The hub includes a reset circuit connected to the magnetometer for providing a reset signal to the magnetometer.

The utility model has the following advantages:

1) The human body joint movement posture measuring instrument of the utility model can simultaneously measure three kinds of movement postures of the human body joints, such as rotation, flexion and extension, and lateral flexion.

2) The human body joint motion posture measuring instrument of the utility model can simultaneously measure the motion posture of the bones at one end of the joint and the bone at the other end of the joint, and can obtain the relative motion postures of both sides of the joint, thereby eliminating the influence of mutual involvement of the two ends of the joint.

3) The utility model uses an all-solid-state microsensor as a sensitive device for detecting the movement of human joints, which has the characteristics of solid-state structure, small size, light weight, high precision and low power consumption.

4) The utility model is completely a digital electronic instrument, and the measurement is fast and accurate.

Description of drawings

Fig. 1 is a measurement unit in the sensor-based human body joint motion posture measuring instrument of the present invention

The composition schematic diagram of embodiment;

Fig. 2 is a schematic diagram of sensor distribution in the measuring unit of Fig. 1;

Fig. 3 is the composition schematic diagram of the human body head and neck motion attitude measuring instrument of the present utility model;

Fig. 4 is a schematic composition diagram of another embodiment of the measuring unit in the human body joint motion posture measuring instrument of the present invention;

FIG. 5 is a schematic diagram of sensor distribution in the measuring unit of FIG. 3 .

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment the utility model is described in further detail.

Fig. 1 shows an embodiment of the measurement unit in the human body joint movement attitude measuring instrument of the present utility model, comprise three-axis accelerometer sensor and three-axis magnetometer sensor, sensor peripheral filter and amplifying circuit, and have A/D converter microprocessor. The three-axis accelerometer includes an X-axis accelerometer 11 , a Y-axis accelerometer 12 and a Z-axis accelerometer 13 , and the three-axis magnetometer includes an X-axis magnetometer 21 , a Y-axis magnetometer 22 and a Z-axis magnetometer 23 . The measurement unit coordinate system X-Y-Z is a three-axis orthogonal coordinate system built on the measurement unit, and the distribution of the accelerometer and the magnetometer in the measurement unit coordinate system is shown in Figure 2. The X-axis accelerometer 11, the Y-axis accelerometer 12 and the The Z-axis accelerometers 13 are arranged in parallel along the three orthogonal axes X-Y-Z of the measurement unit coordinate system, and are used to measure the components of the gravitational acceleration G on the three orthogonal axes X-Y-Z of the measurement unit coordinate system. The X-axis magnetometer 21, the Y-axis magnetometer 22 and the Z-axis magnetometer 23 are arranged in parallel along the three orthogonal axes X-Y-Z of the measurement unit coordinate system, respectively, and are used to measure the geomagnetic induction H in the measurement unit coordinate system respectively. The components on the orthogonal axes X-Y-Z.

Returning to Fig. 1, the outputs of the three-axis accelerometers 11, 12 and 13 and the three-axis magnetometers 21, 22 and 23 are analog voltage signals, which are respectively amplified by the first amplifying circuit 31 and the second amplifying circuit 32, and then amplified by the first amplifying circuit 31 and the second amplifying circuit 32. A filter circuit 41 and a second filter circuit 42 filter the signal to filter out high-frequency noise in the output signal of the sensor to obtain an effective signal. The A/D converter 50 converts the analog voltage signal into a digital signal and sends it to the microprocessor 60 . The microprocessor 60 converts the digital signal into a data form of a certain format for output. For example, in one embodiment, the microprocessor 60 converts the signal into serial data for output.

FIG. 4 shows another embodiment of the measurement unit. Compared with FIG. 1 , the sensor in the measurement unit has three-axis rate gyroscopes, including an X-axis rate gyroscope 101 , a Y-axis rate gyroscope 102 and a Z-axis rate gyroscope 103 . The outputs of the three-axis rate gyroscopes 101 , 102 and 103 are also analog voltage signals, which are filtered by the third filter circuit 43 . Since the voltage output ranges of the rate gyroscopes 101, 102 and 103 generally meet the input requirements of the A/D converter 50, the output signal of the third filter circuit 43 directly enters the A/D converter 50 to be converted into a digital signal. As shown in Figure 5, similar to the three-axis accelerometers 11, 12 and 13 and the three-axis magnetometers 21, 22 and 23, the X-axis rate gyroscope 101, the Y-axis rate gyroscope 102 and the Z-axis rate gyroscope 103 are also measured along the The three orthogonal axes X-Y-Z of the unit coordinate system are arranged in parallel, and are used to measure the components of the acceleration of the measurement unit on the three orthogonal axes X-Y-Z of the measurement unit coordinate system.

It should be understood that, based on the idea of the present application, those skilled in the art may change the type and quantity of sensors in the measurement unit according to actual needs, and are not limited to the above two embodiments. For example, when it is only necessary to measure some parameters of the posture of human joints, only accelerometers, magnetometers or gyroscopes can be used alone, or sensors can only be arranged on one or two coordinate axes of the X-Y-Z coordinate system of the measurement unit.

The measurement unit shown in Fig. 1 and Fig. 4 is fixed on the human body during work, so the weight of the measurement unit needs to be as light as possible. For this reason, in one embodiment of the present utility model, the sensor in the measuring unit shown in Fig. 1 and Fig. 4 adopts micro-electromechanical sensor, and this sensor is on the electro-optic material chip such as monocrystalline silicon, quartz crystal, lithium niobate It is produced by micromachining technologies such as photolithography, corrosion, deposition, ion implantation, and bonding, and has the characteristics of small size, light weight, and low power consumption. In addition, the A/D converter 50 and the microprocessor 60 are integrated, and a microprocessor integrating an A/D converter is used.

In practical application, the various components of the measuring unit shown in Fig. 1 and Fig. 4 are collectively arranged in a housing, and the housing has a signal output port, so that the measurement signal of the measuring unit can be output through the output port. In an embodiment shown in FIG. 3 , the signal output port of the measurement unit is connected to a hub 80 through a cable.

FIG. 3 is a human body joint motion attitude measuring instrument composed of the measuring unit shown in FIG. 1 or FIG. 4 , including two measuring units 71 and 72 , a hub 80 and a computer 90 . In the embodiment of FIG. 3 , two measuring units having the structure shown in FIG. 1 or FIG. 4 are used: a first attitude measuring unit 71 and a second measuring unit 72 . When the measuring instrument of the present utility model is working, the first attitude measuring unit 71 and the second attitude measuring unit 72 are respectively fixed at the two ends of the joints of the human body. The advantage of using two measuring units is that the two ends of the joints of the human body can be measured. The relative motion pose of the bones. For example, when measuring the motion posture of the head and neck of the human body, the first posture measurement unit 71 is fixed on the head of the human body to measure the motion posture of the human head; the second posture measurement unit 72 is fixed on the torso of the human body to measure the torso of the human body. In this way, by combining the posture data of the human head and torso, the relative movement posture of the human head relative to the torso can be measured, thereby eliminating the influence of the torso movement on the head movement. It is easy to understand that when the influence of the implicated motion of the bones at both ends of the joint is not considered, the human body joint motion posture measuring instrument of the present invention can also have only one measuring unit; when the implicated motion of multiple joints is to be considered, the The human body joint motion posture measuring instrument may also include more than two measuring units.

In FIG. 3 , the hub 80 mainly acts as a relay for signal transmission between the measurement units 71 , 72 and the computer 90 . The hub 80 is connected to the measuring units 71 , 72 and the computer 90 through cables, so as to transmit the output signals of the measuring units 71 , 72 to the computer 90 . Therefore, the hub 80 mainly includes a microprocessor 81 and one or more port driver chips, and the microprocessor 81 converts the signals input by the measurement units 71 and 72 into a signal format recognizable by the port driver chips, so as to support the hub 80 and the computer. 90 kinds of data transmission methods.

In the embodiment of FIG. 3 , the port driver chips include a serial port driver chip (RS232) 82 and a UBS driver chip 83 . In one embodiment, the measurement signals of the measurement units 71 and 72 are input to the hub 80 in the form of serial data from the microprocessor 60 of FIG. It can also be input to the USB port of the computer 90 through the USB driver chip 83 after the microprocessor 81 converts the format.

In FIG. 3 , the hub 80 also includes a reset circuit 84 , which is used to eliminate the influence of the high magnetic field effect of the environment on the sensitivity of the magnetometers 21 , 22 and 23 in the sensor, and reset the sensor. The reset circuit 84 is composed of a MOSFET tube and its peripheral circuits. When the circuit enters the reset state, when receiving a reset instruction from the host computer 90, the microprocessor 81 outputs a reset pulse signal with a frequency of 10 Hz and a duty ratio of 1, and the reset circuit After power amplification by 84 , the reset resistor inside the magnetometer is driven to reset the magnetometers 21 , 22 and 23 in the measurement units 71 and 72 .

In FIG. 3, the hub 80 also includes a voltage stabilizing circuit 85, which provides high-quality stabilizing power for each part of the entire circuit.

The various components of the hub 80 shown in Figure 3 can be collectively arranged in a housing, the housing has a signal input port and an output port, the signal input port is connected to the measuring units 71 and 72 through cables, and the signal output port can be The serial port and/or USB port are connected with the computer 90 through cables.

In FIG. 3 , the computer 90 is stored with dedicated software for calculating joint movement postures through the measurement signals of the sensors. In the present utility model, when the measuring unit has the structure shown in Figure 1, the algorithm for calculating its attitude has been disclosed in the cited Chinese patent "Micro-Electro-Mechanical Technology-Based Micro Navigation System" with the application number "01110135.0"; When the measurement unit has the structure shown in Figure 4, its attitude calculation algorithm has been disclosed in the cited Chinese patent application "A Method and System for Carrier Attitude Measurement" with the application number "200410004660.3", and will not be repeated here. . Through the above algorithm, the rotation angle ψ, flexion and extension angle θ, and lateral flexion angle γ of the coordinate system X-Y-Z of the measuring unit relative to a geographic coordinate system North-East-Earth (N-E-D) can be calculated, and the measurement can be obtained through these attitude angles The pose angle of the bone where the unit is located.

In one embodiment, the human body joint motion posture measuring instrument of the present invention is used for the human body head and neck motion posture measuring instrument of the cervical vertebra joint. In this embodiment, the measuring unit 71 is fixed on the human head, and the measuring unit 71 is adjusted so that the coordinate system X-Y-Z of the measuring unit 71 coincides with the sagittal axis, the coronal axis and the vertical axis of the human head. Here, the sagittal axis, coronal axis, and vertical axis of the human head generally do not coincide with the geographic coordinate system N-E-D, and the rotation angle ψ, flexion-extension angle θ, and lateral flexion angle γ obtained by the above-mentioned attitude calculation algorithm are the measurement units The attitude angle of the coordinate system X-Y-Z relative to the geographic coordinate system N-E-D, that is, in the initial state, the human head rotation angle ψ, flexion and extension angle θ, and lateral flexion angle γ are not zero. But obviously, since the relative attitude angle of the human head relative to its initial state is concerned in the actual measurement, the attitude angle whose initial value is not zero does not affect the work of the measuring instrument. Further, the special software on the computer 90 can also be used for zero adjustment, and the human head rotation angle ψ, flexion and extension angle θ and side flexion angle γ are set to zero in the initial state. Such an operation is easy for those skilled in the art. is obvious. When the head moves, the coordinate system X-Y-Z of the measurement unit 71 moves accordingly. According to the measurement signal of the sensor in the measurement unit 71, the computer 90 can measure the posture angle of the human head. Similarly, the measuring unit 72 is fixed on the human trunk so that the coordinate system X-Y-Z of the measuring unit 72 coincides with the sagittal axis, the coronal axis, and the vertical axis of the human trunk, and the computer 90 can measure the posture angle of the human trunk. Further, the computer 90 can also obtain the motion posture of the human head relative to the torso by using the measured postures of the head and torso of the human body and the relative angle calculation method. The special software on the computer 90 not only displays the three angles of head rotation, flexion and extension, and lateral flexion measured in real time, but also displays the trajectory of the head, the angle change curve and the range of motion angles, and stores the information and all information of the measuring user. The measurement data results can be connected to a printer to print out the data.

Claims (8)

1, a kind of sensor-based human synovial athletic posture measuring instrument is characterized in that, comprising:

At least one measuring unit, this measuring unit comprise some pick offs, an A/D converter and a microprocessor; Described A/D converter is connected with pick off, and the measuring-signal of described pick off is carried out digital-to-analogue conversion; Described microprocessor is connected with A/D converter, receives the digital signal of A/D converter output, and will output to described hub after the described digital signal conversion;

A computer is used for handling calculating according to the measuring-signal of described at least one measuring unit;

Be connected in the hub between measuring unit and the computer, be used for the signal of measuring unit is transferred to computer, described hub comprises one or more port driver chips, and described port driver chip transfers to the corresponding PORT COM of described computer with the signal of measuring unit output.

2, sensor-based human synovial athletic posture measuring instrument according to claim 1 is characterized in that, the pick off of described measuring unit is selected from least a in accelerometer, gaussmeter and the gyro.

3, sensor-based human synovial athletic posture measuring instrument according to claim 1 is characterized in that, the pick off of described measuring unit is arranged along three normal axis of a coordinate system.

4, sensor-based human synovial athletic posture measuring instrument according to claim 1 is characterized in that described measuring unit also comprises filter circuit and/or the amplifying circuit that is connected with described pick off.

5, sensor-based human synovial athletic posture measuring instrument according to claim 1 is characterized in that the pick off in the described measuring unit is a microsensor.

6, sensor-based human synovial athletic posture measuring instrument according to claim 1 is characterized in that, described at least one measuring unit comprises first and second measuring units; Described first measuring unit is fixed in the end in the human synovial two ends when work, described second measuring unit is fixed in the other end in the human synovial two ends when work.

7, sensor-based human synovial athletic posture measuring instrument according to claim 1 is characterized in that described hub also comprises:

Microprocessor, the signal that the conversion of signals of each measuring unit output can be discerned for the port driver chip;

Mu balanced circuit is used for providing needed voltage signal to the parts of hub.

8, sensor-based human synovial athletic posture measuring instrument according to claim 2 is characterized in that, described hub comprises a reset circuit that is connected with described gaussmeter, is used for providing reset signal to gaussmeter.

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