CN105893776B - The method that bone aerial statue during bonesetting is resolved using sensor - Google Patents
The method that bone aerial statue during bonesetting is resolved using sensor Download PDFInfo
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- CN105893776B CN105893776B CN201610272714.7A CN201610272714A CN105893776B CN 105893776 B CN105893776 B CN 105893776B CN 201610272714 A CN201610272714 A CN 201610272714A CN 105893776 B CN105893776 B CN 105893776B
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- G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
- G16H50/50—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
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Abstract
The method that bone aerial statue during bonesetting is resolved using sensor of the present invention, by the space coordinate for calculating the key point on fracture model, obtain its standard coordinate in fixed coordinate system, thereby using the movement of the numerical value change control virtual emulation model of standard coordinate, bone aerial statue during boneseting is calculated, actual situation mold sync links in traditional Chinese medical science bonesetting dummy emulation system easy to implement.Calculate easy, accuracy height.
Description
Technical field
The present invention relates to a kind of methods that bone aerial statue during bonesetting is resolved using sensor.
Background technology
TCM bone-setting skills are the important components of motherland's medicine, are had a long history and abundant content.The traditional Chinese medical science
Bone setting therapeutic bone disease has the characteristics that " pain is light, healing is fast, restores, price is low ", is liked deeply by patient, at home
Produce tremendous influence outside.Traditional Clinical teaching method is typically the operation practice that gimmick is carried out with patient, not only
Increase patient suffering, but also can because incorrect operate brings secondary damage to patient, and training content it is random according to
Rely the appearance of patient Yu, there is very big Unpredictability.Therefore, the mode of this " do one, see one, learn one " be difficult into
The teaching and practice of row system bring difficulty to the succession and development of traditional Chinese medical science bonesetting.
In recent years, have scholar and researcher attempts attitude algorithm being applied in biomedical sector.Such as by MEMS
Inertial sensor is used in endoscope, is also had researcher to resolve human body attitude and is applied in rehabilitation training.But just come at present
It says, it is band and an emerging research across that the widely applied attitude algorithm of space industry and medicine, which are combined,
There is very high researching value in direction.We it is necessary to this field carry out deeper into research and exploration, advanced technology is introduced
Boneset training system, forms the Data Fusion of Sensor algorithm and posture for meeting bone-setting manipulation virtual training system features and requirement
Data filtering computation realizes the accurate description of model sport track in gimmick mechanism, enables virtual fracture model more
True and accurately reflection physical model motion conditions.
Invention content
To solve above technical deficiency, the present invention provides bone during a kind of resolving bonesetting using sensor is empty
The method of middle posture realizes actual situation mold sync in traditional Chinese medical science bonesetting dummy emulation system and links.
The present invention is achieved by the following measures：
A kind of method that bone aerial statue during bonesetting is resolved using sensor of the present invention, is included the following steps：
Step 1, human body forearm simulation model is built, and nine axis gyroscopes are installed in the ancon of model, fracture is scratched on bone
Displacement sensor is installed, close to ulna one end setting angle potentiometer I of ancon, bone one end setting angle electricity is scratched close to wrist
Position meter II；
Step 2, nine axis gyroscopes measure three deviation angles of forearm, obtain the posture of forearm；Displacement sensor
The air line distance for scratching bone both ends of fracture；Angular potentiometer I and angular potentiometer II measure the deviation angle for scratching bone of fracture；
Step 3, using ancon as origin, the space coordinate of angular potentiometer I is acquired, is then measured according to nine axis gyroscopes
The air line distance for scratching bone both ends of the fracture of deviation angle and displacement sensor acquires the space coordinate of angular potentiometer II；
The fracture of the deviation angle and displacement sensor of scratching bone of fracture is measured according to angular potentiometer I and angular potentiometer II
The air line distance for scratching bone both ends acquire the bone length of scratching of fracture, and then acquire the space coordinate for scratching bone breaking part；
Step 4, angular potentiometer I, angular potentiometer II and the space coordinate turn for scratching bone breaking part obtained according to step 3
Change standard coordinate into.
Above-mentioned that human body forearm simulation model is simplified quadrangularly, an endpoint of quadrangle represents ancon and is defined as original
Point O, a long side being attached thereto represent ulna, and another endpoint of ulna is defined as P points, another length disconnected of quadrangle
Bone is scratched in Bian representatives, and the endpoint of gap is defined as A points and B points, and axis is defined as with the quadrangle endpoint that origin O is connected by short side
Point O', be defined as axis point P', O'A representative fracture with the quadrangle endpoint that P points are connected by short side one section scratch bone, and P'B is represented
Another section of fracture scratches bone；Line segment OO' and P'P are fixed length, solve P points, the standard coordinate of A points and B points in fixed coordinate system.
The beneficial effects of the invention are as follows：By calculating the space coordinate of the key point on fracture model, it is obtained in fixation
Standard coordinate in coordinate system thereby using the movement of the numerical value change control virtual emulation model of standard coordinate, easily resolves
Go out bone aerial statue during boneseting, realize actual situation mold sync in traditional Chinese medical science bonesetting dummy emulation system and link.
Description of the drawings
Fig. 1 is the human body forearm simulation model structure diagram of the present invention.
Fig. 2 is the structure diagram after the human body forearm simulation model of the present invention simplifies.
Wherein：1 nine axis gyroscopes, 2 displacement sensors, 3 angular potentiometers II, 4 angular potentiometers I.
Specific embodiment
Further detailed description is done to the present invention below in conjunction with the accompanying drawings：
The method that bone aerial statue during bonesetting is resolved using sensor of the present invention, by calculating on fracture model
Key point space coordinate, its standard coordinate in fixed coordinate system is obtained, thereby using the numerical value change of standard coordinate
The movement of virtual emulation model is controlled, calculates bone aerial statue during bonesetting, realizes traditional Chinese medical science bonesetting dummy emulation system
Middle actual situation mold sync linkage.
Step 1, human body forearm simulation model is built, and nine axis gyroscopes 1 are installed in the ancon of model, fracture is scratched on bone
Displacement sensor 2 is installed, close to ulna one end setting angle potentiometer I 4 of ancon, bone one end setting angle is scratched close to wrist
Potentiometer II 3；As shown in Figure 1.
Step 2, nine axis gyroscopes 1 measure three deviation angles of forearm, obtain the posture of forearm；Displacement sensor 2 is surveyed
Measure the air line distance for scratching bone both ends of fracture；Angular potentiometer I 4 and angular potentiometer II 3 measure the deflecting angle for scratching bone of fracture
Degree；
Step 3, using ancon as origin, the space coordinate of angular potentiometer I 4 is acquired, is then measured according to nine axis gyroscopes 1
Deviation angle and the air line distance for scratching bone both ends of fracture that measures of displacement sensor 2 acquire the space of angular potentiometer II 3
Coordinate；The deviation angle for scratching bone of fracture is measured according to angular potentiometer I 4 and angular potentiometer II 3 and displacement sensor 2 is surveyed
The air line distance for scratching bone both ends of the fracture of amount acquires the bone length of scratching of fracture, and then acquires the space coordinate for scratching bone breaking part；
Step 4, angular potentiometer I 4, angular potentiometer II 3 and the space coordinate for scratching bone breaking part obtained according to step 3
It is converted into standard coordinate.
As shown in Fig. 2, human body forearm simulation model is simplified quadrangularly, an endpoint of quadrangle represents ancon and determines
Justice is origin O, and a long side being attached thereto represents ulna, and another endpoint of ulna is defined as P points, and another of quadrangle is disconnected
Bone is scratched in the long side representative opened, and the endpoint of gap is defined as A points and B points, determines with the quadrangle endpoint that origin O is connected by short side
Justice is axis point O', and be defined as axis point P', O'A representative fracture with the quadrangle endpoint that P points are connected by short side one section scratches bone, P'
B represents another section be broken and scratches bone；Line segment OO' and P'P are fixed length, solve P points, the standard of A points and B points in fixed coordinate system
Coordinate.
O is origin, and O' is the axis point of knochenbruch O'A, and P' is the axis point of another knochenbruch P'B.Line segment OO' be fixed length, P'P
For fixed length.P points can be moved along OP axis, and the distance of movement can be measured by displacement sensor 2.We are at known conditions：①OP、
OO', PP', O'A, P'B line segment length are fixed length or measured value.2. the Eulerian angles X YZ that P points are rotated around three axis of space coordinates
It is known.Need the coordinate P (X, Y, Z), A (X, Y, Z), B (X, Y, Z) that the content solved is P points, A points and B points.
Wherein, A, B point coordinates is asked to need first to seek O' and P' point coordinates.O' points coordinate in fixed coordinate system seeks method：
X=x ' cos (x, x ')+y ' cos (x, y ')+z ' cos (x, z ')
Y=x ' cos (y, x ')+y ' cos (y, y ')+z ' cos (y, z ')
Z=x ' cos (z, x ')+y ' cos (z, y ')+z ' cos (z, z ')
Wherein, coordinate x, y, z and x', y', z' are respectively O' points in two coordinate systems --- fixed coordinate system Oxyz and bone
Roll over the coordinate in model space coordinate system OXYZ.(common origin of the O points for two coordinate systems).P' points need first to seek P points, same to ask
O' point algorithms are the same.Knochenbruch axis point O', after P' is obtained, O'A and P'B can measure rotation angle by sensor, can solve A, B coordinate.
The above is only the preferred embodiment of this patent, it is noted that for the ordinary skill people of the art
For member, under the premise of the art of this patent principle is not departed from, several improvement and replacement can also be made, these improve and replace
Also it should be regarded as the protection domain of this patent.
Claims (1)
- A kind of 1. method that bone aerial statue during bonesetting is resolved using sensor, which is characterized in that include the following steps：Step 1, human body forearm simulation model is built, and nine axis gyroscopes are installed in the ancon of model, scratching for fracture is installed on bone Close to ulna one end setting angle potentiometer I of ancon, bone one end setting angle potentiometer is scratched close to wrist for displacement sensor Ⅱ；Step 2, nine axis gyroscopes measure three deviation angles of forearm, obtain the posture of forearm；Displacement sensor is broken The air line distance for scratching bone both ends；Angular potentiometer I and angular potentiometer II measure the deviation angle for scratching bone of fracture；Step 3, using ancon as origin, the space coordinate of angular potentiometer I is acquired, the deviation then measured according to nine axis gyroscopes The air line distance for scratching bone both ends of the fracture of angle and displacement sensor acquires the space coordinate of angular potentiometer II；According to Angular potentiometer I and angular potentiometer II measure scratching for the fracture of the deviation angle and displacement sensor of scratching bone of fracture The air line distance at bone both ends acquires the bone length of scratching of fracture, and then acquires the space coordinate for scratching bone breaking part；Step 4, the angular potentiometer I that is obtained according to step 3, angular potentiometer II with scratch the space coordinate conversion of bone breaking part into Standard coordinate；The human body forearm simulation model is：Human body forearm simulation model is simplified into quadrangularly, an endpoint of quadrangle It represents ancon and is defined as origin O, a long side being attached thereto represents ulna, and another endpoint of ulna is defined as P points, four sides Bone is scratched in another long side representative disconnected of shape, and the endpoint of gap is defined as A points and B points, is connected with origin O by short side Quadrangle endpoint is defined as axis point O', and being defined as axis point P', O'A with the quadrangle endpoint that P points are connected by short side represents fracture One section scratch bone, P'B represent fracture another section scratches bone；Line segment OO' and P'P are fixed length, solve P points, A points and B points in fixation Standard coordinate in coordinate system.
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| CN101984327A (en) * | 2010-08-26 | 2011-03-09 | 中国人民解放军军事医学科学院卫生装备研究所 | Fracture model resetting detection device and detection method thereof |
| CN102117533A (en) * | 2011-03-11 | 2011-07-06 | 北京航空航天大学 | Human falling detection protection and alarming device |
| CN102525434A (en) * | 2012-01-04 | 2012-07-04 | 安阳工学院 | Remote electronic monitoring device |
| CN103142234A (en) * | 2013-01-25 | 2013-06-12 | 中国科学院深圳先进技术研究院 | Sensor system and method for judging body falldown and body protection device |
| CN105139738A (en) * | 2015-09-22 | 2015-12-09 | 山东中医药大学 | Human body forearm fracture simulating bone-setting training apparatus |
| CN205038887U (en) * | 2015-09-22 | 2016-02-17 | 山东中医药大学 | Human forearm fracture emulation bonesetting trainer |
-
2016
- 2016-04-28 CN CN201610272714.7A patent/CN105893776B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101984327A (en) * | 2010-08-26 | 2011-03-09 | 中国人民解放军军事医学科学院卫生装备研究所 | Fracture model resetting detection device and detection method thereof |
| CN102117533A (en) * | 2011-03-11 | 2011-07-06 | 北京航空航天大学 | Human falling detection protection and alarming device |
| CN102525434A (en) * | 2012-01-04 | 2012-07-04 | 安阳工学院 | Remote electronic monitoring device |
| CN103142234A (en) * | 2013-01-25 | 2013-06-12 | 中国科学院深圳先进技术研究院 | Sensor system and method for judging body falldown and body protection device |
| CN105139738A (en) * | 2015-09-22 | 2015-12-09 | 山东中医药大学 | Human body forearm fracture simulating bone-setting training apparatus |
| CN205038887U (en) * | 2015-09-22 | 2016-02-17 | 山东中医药大学 | Human forearm fracture emulation bonesetting trainer |
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