CN113035000A - Virtual reality training system for central integrated rehabilitation therapy technology - Google Patents
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Abstract
The invention discloses a virtual reality training system for a central integrated rehabilitation therapy technology, which comprises a non-wearable somatosensory detection module, a PC (personal computer) host end, a VR (virtual reality) all-in-one machine training end and a shared display terminal. The body feeling detection module is connected with the PC host end through a data line, the PC host end is connected with the VR all-in-one machine training end module through a wireless local area network, and the VR all-in-one machine training end module is connected with the sharing display terminal through the wireless local area network. The doctor configures a dynamic virtual environment which meets the rehabilitation requirement of the patient and can carry out rehabilitation training and treatment through the system. The invention integrates the central integrated rehabilitation treatment technology with a new generation information technology, realizes intellectualization of the central integrated rehabilitation treatment technology and the treatment process thereof, realizes dynamic configuration of training environment, meets diversification of rehabilitation requirements, realizes acquisition of treatment process data, meets objectivity of rehabilitation evaluation, and assists application, popularization and use of the central integrated rehabilitation treatment technology.
Description
Technical Field
The invention relates to the field of virtual-real interaction control and the technical field of auxiliary rehabilitation medicine, in particular to a virtual reality training system for a central integrated rehabilitation therapy technology.
Background
The central nervous system integrated rehabilitation technology is a new stroke rehabilitation idea, and is a rehabilitation training method for enabling a patient to acquire and integrate current environmental information (auditory information, visual information and the like) through a brain central nervous system of the patient to understand the current training environment and further stimulate the patient to perform active movement based on the cognitive ability of the patient under the stimulation of a doctor and the training environment. In the rehabilitation theory based on central integration, the setting of the rehabilitation training environment should be close to daily living Activities (ADL), and the rehabilitation training environment of each patient is not completely consistent, and a doctor needs to continuously adjust the training environment according to different rehabilitation requirements of the patient, and simultaneously, the influences of the PT hall (motion treatment hall) with more people and noisy environmental characteristics or the narrow and oppressive environmental characteristics of the ward space on the attention and the psychological mood of the patient are also considered.
The invention has the application number of CN201810748613.1, is named as a stroke rehabilitation training system based on virtual reality and inertial motion capture, combines the virtual reality technology and the motion capture technology and is applied to the rehabilitation process of stroke patients, and provides a new way for the long-term rehabilitation of the stroke patients. The human motion capture device is wearable, is inconvenient to wear and is easy to cause the rejection of the psychology of the apoplexy patient, and the virtual environment related to the human motion capture device cannot be dynamically configured and adjusted by a doctor according to the rehabilitation requirement of the patient.
The invention relates to a stroke rehabilitation training system based on virtual reality technology and a using method thereof, which have the application number of CN201910890197.3, and the invention name of the system relates to that human body data acquisition is wearable, is inconvenient to wear and is easy to cause the rejection of stroke patients.
The system and the method have the application number of CN202010249686.3, are named as a system and a method for limb function assessment and rehabilitation training of cerebral apoplexy, can remotely carry out limb function assessment and rehabilitation training on different patients without regional limitation, can observe the actual action state of the patients in real time, enable doctors to have visual judgment, enable the doctors to interact with the patients in real time, correct wrong postures, improve the accuracy of training actions, improve the training effect, enable the doctors to visually judge whether the patients can further deepen the strengthening training degree, and record all the actions of the patients in a case, can repeatedly observe and carry out more accurate judgment, and make an accurate plan for next rehabilitation training. The human body motion capture device mentioned in the method is also wearable, discomfort of a patient is easily caused, the training environment is a virtual reality interactive game, and the control or configuration freedom of a doctor on the training game is still limited.
The application number is CN202010639300.X, the invention name is 'an upper limb intelligent rehabilitation system based on virtual reality', and a simpler and more comfortable exercise rehabilitation environment is provided for a dyskinesia patient through more humanized, intelligent and low-cost interactive experience, so that the rehabilitation effect of the patient is improved, and the rehabilitation time of the patient is shortened; meanwhile, according to the system disclosed by the invention, arm movement and fine movement of two hands can be effectively and accurately fused, so that a patient with dyskinesia can be recovered by rehabilitation training more comprehensively and effectively. The system also limits the freedom of configuration of the virtual environment for the physician.
The invention is called as 'Kinect-based upper limb active rehabilitation training method' with application number CN202010752710.5, provides continuous, accurate, rich and fatigue-free training for the upper limbs of patients during direct target exercise training through a computer controller, can plan tasks to be completed under different functional modes, simultaneously comprises a plurality of functional training, makes boring training interesting, mobilizes the subjective motility of the patients, and can be used for evaluating and recording the range of the exercise and the like. The system also limits the freedom of configuration of the virtual environment for the physician.
The existing rehabilitation training method for the stroke patient based on the virtual reality technology generally has the following problems:
(1) and the design of a virtual training environment and the development of a training method aiming at the central nervous system integration rehabilitation concept are not carried out.
(2) The doctor cannot dynamically configure and adjust the virtual training environment in real time according to the rehabilitation requirements of the patient.
(3) The design of the rehabilitation training virtual environment is greatly different from activities of daily life, and as the cognitive ability of the stroke patients is poor, part of the patients cannot apply the training actions learned in the training environment to the activities of daily life.
(4) The patient and the interactive sensing equipment of the virtual environment are wearable, so that discomfort and rejection of the patient are easily caused, and the rehabilitation effect is influenced.
Disclosure of Invention
In view of the above technical problems, the present invention aims to provide a virtual reality training system for central integrated rehabilitation therapy for stroke patients, and the following technical problems can be solved by the technical scheme of the present invention:
the central integrated rehabilitation therapy technology requires that the rehabilitation training environment of a patient is close to daily life activities, and the training environment has diversification similar to the daily life activities, which is the same as individuation required to meet the rehabilitation requirements of the patient. The invention develops the virtual environment based on the virtual reality technology to replace the real training environment, realizes the dynamic configuration of the virtual environment, and can solve the problems of diversification and individuation required by the rehabilitation training environment of the patient.
The central integrated rehabilitation therapy technology emphasizes the initiative of the rehabilitation training of the patient, and enables the patient to actively and subconsciously move in the training environment through the stimulation of the training environment to the patient. The invention designs a virtual environment with visual, auditory and other sensory information output by simulating and modeling the daily life activity environment, and can solve the problem that a patient actively moves under the stimulation of a training environment, which is required by the central integrated rehabilitation therapy technology.
The virtual environment design is close to daily life activities, so that the learning and use of a patient can be realized, and the problem of poor training effect caused by cognitive ability is solved.
By using the body-sensing sensor which is not required to be worn, the patient can realize natural interaction with the virtual environment without burden when carrying out rehabilitation training.
The master-slave system based on wireless local area network communication solves the influence of VR helmets with cables on the movement of a windward patient, including the problem of cables and the problem of dizziness caused by transmission delay.
In order to realize the purpose, the invention is realized according to the following technical scheme:
a virtual reality training system for central integrated rehabilitation therapy technology, comprising: non-body of wearing feels detection module, PC host computer end, VR all-in-one training end, shared display terminal, body feel detection module with PC host computer end passes through the data line and connects, PC host computer end with VR all-in-one training end module passes through wireless local area network and connects, VR all-in-one training end module with shared display terminal passes through wireless local area network and connects.
The method comprises the steps that a PC host end transmits scene configuration parameters and data of a somatosensory detection module to a VR all-in-one machine training end, the VR all-in-one machine training end analyzes received data and then configures scenes according to the configuration parameters, a patient carries out rehabilitation under the assistance of a doctor according to the configuration scenes, and a first person visual angle of the patient in rehabilitation training in a virtual environment is displayed on a shared display terminal in real time.
In the technical scheme, the motion sensing detection module comprises a first optical sensor and a second optical sensor, the first optical sensor collects gestures of stroke patients, the collected data are transmitted to the PC host end for data processing and recognition, so that the patients can interact with a virtual environment by using natural gestures, the second optical sensor collects human skeleton data of the patients and transmits the data to the PC host end through a data line, and the PC host end carries out smooth processing on the data and synchronously presents the data at the VR all-in-one machine training end in real time.
In the above technical solution, the first optical sensor selects a Leap Motion somatosensory controller, and the second optical sensor selects a Kinect sensor.
In the technical scheme, the PC host module comprises a virtual environment selection end, a user information management end and a training data storage and processing end, wherein the virtual environment selection end is composed of a plurality of virtual environments close to activities of daily life, a doctor selects the virtual environments and dynamically configures the virtual environments according to training conditions and rehabilitation requirements of patients, the user information management end is used for managing basic identity information of the patients, and the training data storage and processing end stores and analyzes environment configuration information and training data of patient rehabilitation.
In the above technical solution, the configuration parameters of the virtual environment selection end include parameters that affect psychological, physiological, and cognitive aspects of the patient.
In the technical scheme, the VR machine training end uses unity3D to develop a living environment of virtual clothes, food, live and walk, and stroke patients naturally interact with virtual environment objects in the virtual environment.
In the technical scheme, the VR all-in-one machine training end is a VR helmet, and a patient participates in rehabilitation training by wearing the VR helmet.
In the technical scheme, the sharing display terminal projects the first-person visual angle of the patient in the virtual environment of the VR machine training end to the display screen in a wireless screen projection mode.
The invention also provides a central integrated rehabilitation therapy system which is characterized by comprising the virtual reality training system and used for rehabilitation training of stroke patients.
Compared with the prior art, the invention has the following advantages:
the invention is oriented to the central integrated rehabilitation therapy technology, and has great advantages in rehabilitation effect and effective time compared with other rehabilitation training methods because the technology is a new rehabilitation concept. The training environment of the central integrated rehabilitation therapy technology is required to be diversified daily living and activity environments, and the training environment of each patient needs to be personalized due to different rehabilitation requirements of the patients. At present, no related product is aimed at central integrated rehabilitation training in the society, the central integrated rehabilitation therapy technology can be popularized in the society, and hospitals which do not have the condition for central integrated rehabilitation therapy can better apply the central integrated rehabilitation therapy technology to carry out rehabilitation therapy on stroke patients. The later-period rehabilitation therapy of the stroke patient is accelerated, so that the stroke patient can recover the basic daily life capacity, the economic burden of families and the psychological burden of families are relieved, and the social harmony is promoted.
Secondly, the dynamic configuration method of the virtual environment enables a doctor to carry out personalized virtual environment configuration according to the rehabilitation requirements of the patient, and can configure a more conforming training task and environment for the patient to the greatest extent according to the rehabilitation condition of the patient, so that the rehabilitation training of the patient can be more consistent with the motor capacity of the patient. The invention has been tried out in the relevant hospitals, and can really solve the problem of setting the hospitals in the training environment.
Finally, the invention combines the central integrated rehabilitation therapy technology with the new generation information technology, realizes the acquisition and storage of training data, lays a data foundation for the subsequent evaluation of the rehabilitation effect of the patient by a doctor, and realizes the objectivity of the evaluation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a virtual reality training system according to the present invention;
FIG. 2 is a schematic diagram of a dynamic configuration process of the virtual reality training system of the present invention;
FIG. 3 is a schematic flow chart of a configuration procedure of the virtual reality training system according to the present invention;
FIG. 4 is a schematic diagram illustrating a design process of a virtual training environment according to the present invention;
FIG. 5 is a schematic diagram of a data transmission flow between a PC host end and a VR machine training end according to the present invention;
FIG. 6 is a schematic diagram of a training data saving process according to the present invention;
FIG. 7 is a schematic diagram of the overall framework of the virtual reality training system of the present invention;
fig. 8 is a schematic diagram of a clinical simulation of the virtual reality training system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
As shown in fig. 1, the virtual reality training system for central integrated rehabilitation therapy technology provided by the present invention comprises: the non-wearable motion sensing detection module, the PC host end, the VR integrated machine training end and the shared display terminal are connected through a data line, the PC host end is connected with the VR integrated machine training end through a wireless local area network, and the VR integrated machine training end module is connected with the shared display terminal through the wireless local area network.
The system comprises a PC host end, a VR all-in-one machine training end, a patient, a sharing display terminal and a motion sensing detection module, wherein the PC host end transmits scene configuration parameters and data of the motion sensing detection module to the VR all-in-one machine training end, the VR all-in-one machine training end analyzes received data and then configures scenes according to the configuration parameters, the patient carries out rehabilitation under the assistance of a doctor according to the configuration scenes, and the scenes of the patient's rehabilitation training are displayed in real time through.
In the preferred embodiment of the present invention, a person skilled in the art may select other types of servers to replace the PC host side as needed.
In the invention, the somatosensory detection module comprises a first optical sensor and a second optical sensor, wherein the first optical sensor selects a Leap Motion somatosensory controller, and the second optical sensor selects a Kinect sensor. The gesture of a stroke patient is collected by the first optical sensor, collected data are transmitted to the PC host end to be processed and identified, the patient can interact with a virtual environment by using a natural gesture, the human skeleton data of the patient are collected by the second optical sensor, the data are transmitted to the PC host end through a data line, the data are subjected to smoothing processing by the PC host end, and the data are synchronously presented at the VR all-in-one machine training end in real time.
The Leap Motion somatosensory controller provided by the invention adopts a stereoscopic vision principle, the controller provided with the double cameras can perform coordinate positioning on a space object like human eyes, and other somatosensory controllers which are not used in the invention can be adopted by a person skilled in the art according to needs without limitation.
The Kinect sensor of the present invention is capable of independently managing audio and video information that is accessible via a data line connection, and similarly, those skilled in the art may employ other body-sensory controllers not described herein, as desired, without limitation.
The PC host end comprises a virtual environment selection end, a user information management end and a training data storage and processing end, wherein the virtual environment selection end is composed of a plurality of virtual environments close to daily life activities, a doctor selects the virtual environments and dynamically configures the virtual environments according to the training condition and the rehabilitation requirement of a patient, and the dynamic configuration refers to that the doctor can configure personalized virtual environments for the patient according to the training condition and the rehabilitation requirement of the patient. The user information management end is used for managing basic identity information of the patient, and the training data storage and processing end stores and analyzes environmental configuration information of patient rehabilitation treatment and training data. Fig. 2 is a schematic diagram of a dynamic configuration process of the VR all-in-one machine, and fig. 3 is a schematic diagram of a program flow of initializing a virtual environment at a training end of the VR all-in-one machine of the present invention. After a doctor selects a virtual environment for a patient according to rehabilitation requirements and configures parameters, a PC host end converts the selected virtual environment and the configured parameters into an XML file and transmits the XML file to a VR integrated machine training end through a local area network, and the VR integrated machine training end analyzes the XML file and then matches and initializes the virtual environment according to the ID of the virtual environment.
According to the preferred technical scheme of the invention, the configuration parameters of the virtual environment selection end comprise parameters influencing the psychological, physiological and cognitive aspects of the patient. The psychological parameters comprise the brightness of the training environment, weather, noise and prompt tones, the physiological parameters comprise the time length for the patient to be trained and the training difficulty, the cognitive parameters comprise the comprehension parameters of the patient, the auditory comprehension parameters comprise auditory comprehension and visual comprehension parameters, the auditory comprehension parameters comprise the language types (Mandarin, Cantonese and the like) of the prompt tones, and the visual comprehension parameters are mainly the presentation types (characters, patterns, characters and patterns and the like) of the UI. The doctor can make corresponding dynamic configuration according to the actual requirements of the patient.
The VR integrated machine training end of the invention uses unity3D to develop the living environment of virtual clothes, food, live and walk, and stroke patients naturally interact with the virtual environment objects in the virtual environment, and simultaneously realize the control of visual or auditory presentation of weather, sound, pedestrians and light, and open interfaces to realize the configuration function of users.
Specifically, the VR machine training end is a VR helmet, and a stroke patient can participate in rehabilitation training by wearing the VR helmet.
The virtual training environment of the invention is mainly used for simulating a living environment, and the design of the training environment is not set with a fixed difficulty level, but needs to provide a configuration function with high degree of freedom. And the VR integrated machine training end receives the configuration demand data from the PC host end, analyzes the data and configures a corresponding training environment. For example, the scene of avoiding pedestrians can be configured with the number of turns of the runway, the number of the virtual people appearing on the runway, the position where the virtual people appear, the moving path and time, and the prompt sound (cantonese and mandarin). The main design flow of the virtual training environment is shown in fig. 4, and specifically includes selection of an environment model, determination of environment configuration parameters, design of a parameter control script, design of a data acquisition script, and design of an interaction control script.
As shown in fig. 5, the data transmission flow from the PC host end to the VR all-in-one machine training end of the present invention is specifically that the virtual environment selected by a doctor, the set configuration parameters, and the somatosensory data collected by the somatosensory interaction device are serialized in an XML data format and transmitted to the VR all-in-one machine training end, and the VR all-in-one machine training end analyzes the received data and then performs virtual environment initialization and human posture synchronization. The initialization of the virtual environment mainly comprises the steps of obtaining a selected virtual environment ID number from received data, matching a corresponding virtual environment from a virtual environment library, and initializing the virtual environment according to a set parameter value; the synchronization of the human body posture comprises two-dimensional presentation and three-dimensional presentation, and the specific presentation forms are different due to different virtual environments.
Fig. 6 is a schematic diagram of a training data storage flow of the present invention, specifically, the training data is temporarily stored in an XML data format at the VR all-in-one machine training end, and when the training is finished, the XML temporary training data is transmitted from the VR all-in-one machine training end to the PC host end through the wireless local area network communication and stored in the SQL Server database.
In the invention, the sharing display terminal projects the first person visual angle of the patient in the virtual environment of the VR all-in-one machine training end to the display screen in a wireless screen projection mode. The system is mainly used for enabling doctors to observe the virtual environment of patient training in real time so as to guide in real time.
FIG. 7 is a block diagram of an embodiment of the overall framework of the virtual reality training system according to the present invention, in this embodiment, the system includes a VR machine training end and a PC host end; therefore, the VR all-in-one machine training end comprises a virtual environment, a virtual environment library and a temporary database, wherein the virtual environment has a configuration function with high degree of freedom, a data acquisition function and an interaction function; the PC host end comprises functions of data acquisition, user information management, training data analysis and evaluation and virtual environment configuration of the VR all-in-one machine training end of the somatosensory interaction equipment.
Fig. 8 is a schematic diagram of a clinical simulation of the virtual reality training system of the present invention, according to which fig. 8 shows a stroke patient who is being trained by the virtual reality training system of the present invention and has been tested in an actual clinic.
The design of the virtual environment based on unity3D can control the high-freedom configuration interface of the open virtual environment through the script, and doctors can configure personalized training environments aiming at different patients to the maximum extent according to needs.
By adopting the optical somatosensory sensor, the patient can realize natural interaction with the virtual environment without wearing related equipment.
The invention also provides a central integrated rehabilitation therapy system, which comprises the virtual reality training system and is used for the rehabilitation training of stroke patients. The virtual reality training system of the invention realizes the central integrated rehabilitation therapy, and the central integrated rehabilitation therapy system of the invention is a concrete and intelligent method or a system for assisting the implementation of the central integrated rehabilitation therapy technology.
The VR all-in-one machine is used as a training terminal of a patient, and communication between a PC host end and the VR all-in-one machine is achieved based on a wireless local area network. Because the rendering and display processing of the virtual environment are carried out in the VR all-in-one machine, the real-time data transmission carried out through the wireless local area network is only the somatosensory data of a human body, and the problem of delay dizziness of the VR all-in-one machine training end similar to other VR equipment in a wireless mode can be solved. When other VR devices perform a wireless streaming mode, since rendering and display processing of a virtual environment are completed at a PC host, a wireless lan needs to transmit a large amount of video stream data, and a serious problem of delay and vertigo usually occurs.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (9)
1. A virtual reality training system for central integrated rehabilitation therapy technology, comprising: the system comprises a non-wearable somatosensory detection module, a PC host end, a VR all-in-one machine training end and a shared display terminal, wherein the somatosensory detection module is connected with the PC host end through a data line, the PC host end is connected with the VR all-in-one machine training end module through a wireless local area network, and the VR all-in-one machine training end module is connected with the shared display terminal through the wireless local area network;
the method comprises the steps that a PC host end transmits scene configuration parameters and data of a somatosensory detection module to a VR all-in-one machine training end, the VR all-in-one machine training end analyzes received data and then configures scenes according to the configuration parameters, a patient carries out rehabilitation under the assistance of a doctor according to the configuration scenes, and a first person visual angle of the patient in rehabilitation training in a virtual environment is displayed on a shared display terminal in real time.
2. The virtual reality training system of claim 1, wherein the somatosensory detection module comprises a first optical sensor and a second optical sensor, the first optical sensor collects gestures of a stroke patient and transmits the collected data to the PC host for data processing and recognition, so that the patient can interact with a virtual environment by using natural gestures, the second optical sensor collects human skeleton data of the patient and transmits the data to the PC host through a data line, and the PC host performs smoothing processing on the data and synchronously presents the data in real time at the VR machine training end.
3. The virtual reality training system of claim 2, wherein the first optical sensor is a Leap Motion somatosensory controller and the second optical sensor is a Kinect sensor.
4. The virtual reality training system of claim 1, wherein the PC host module comprises a virtual environment selection end, a user information management end, and a training data storage and processing end, the virtual environment selection end is composed of a plurality of virtual environments close to activities of daily life, a doctor dynamically configures the virtual environment by selecting the virtual environment according to training conditions and rehabilitation needs of a patient, the user information management end is used for managing basic identity information of the patient, and the training data storage and processing end stores and analyzes environmental configuration information of rehabilitation treatment of the patient and training data.
5. The virtual reality training system of claim 4, wherein the configuration parameters of the virtual environment selection end comprise parameters affecting psychological, physiological and cognitive aspects of the patient.
6. The virtual reality training system of claim 1, wherein the VR kiosk uses unity3D to develop a virtual clothing, food, live, and walk living environment in which stroke victims naturally interact with virtual environment objects as well.
7. The virtual reality training system of claim 6, wherein the VR machine training end is a VR helmet, and the patient participates in rehabilitation training by wearing the VR helmet.
8. The virtual reality training system of claim 1, wherein the shared display terminal is used for projecting a first person perspective of the patient in a virtual environment of the VR all-in-one machine training end to a display screen in a wireless screen projection manner.
9. A central integrated rehabilitation therapy system, comprising the virtual reality training system of any one of claims 1-8, for use in rehabilitation training of stroke patients.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113572769A (en) * | 2021-07-23 | 2021-10-29 | 河南省洛阳正骨医院（河南省骨科医院） | VR immersion type traditional Chinese medicine culture transmission system based on 5G real-time transmission |
| CN114005323A (en) * | 2021-10-22 | 2022-02-01 | 南通市第二人民医院 | Virtual reality training system for central integrated rehabilitation therapy technology |
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| CN109331453A (en) * | 2018-08-07 | 2019-02-15 | 燕山大学 | The virtual rehabilitation system and training method interacted based on EMG feedback with Kinect |
| CN109192272A (en) * | 2018-11-26 | 2019-01-11 | 燕山大学 | Based on the Leap Motion healing hand function training system combined with VR and its implementation |
| CN110201358A (en) * | 2019-07-05 | 2019-09-06 | 中山大学附属第一医院 | Rehabilitation training of upper limbs system and method based on virtual reality and motor relearning |
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| CN113572769A (en) * | 2021-07-23 | 2021-10-29 | 河南省洛阳正骨医院（河南省骨科医院） | VR immersion type traditional Chinese medicine culture transmission system based on 5G real-time transmission |
| CN114005323A (en) * | 2021-10-22 | 2022-02-01 | 南通市第二人民医院 | Virtual reality training system for central integrated rehabilitation therapy technology |
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