CN100588369C - The method and apparatus of the 3D rendering of the part of demonstration skeleton - Google Patents
The method and apparatus of the 3D rendering of the part of demonstration skeleton Download PDFInfo
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- CN100588369C CN100588369C CN200680012474A CN200680012474A CN100588369C CN 100588369 C CN100588369 C CN 100588369C CN 200680012474 A CN200680012474 A CN 200680012474A CN 200680012474 A CN200680012474 A CN 200680012474A CN 100588369 C CN100588369 C CN 100588369C
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Abstract
The present invention relates to the motion that a kind of demonstration is associated with human body or animal body, especially for example the pressure on a part of skeleton of the motion of the next skeleton of foot, ankle, knee joint or buttocks and the method for active force; And the method that shows the 3D rendering of these motions based on the pressure that records on the foot and active force.The present invention also comprises device that shows these pressure, active force and/or motion and the software that is used for this device.Especially show foot turn up or in stir work.
Description
Technical field
The present invention relates to pressure and the method for active force, the especially action of low level skeleton on the part (for example foot) of a kind of demonstration skeleton relevant, for example foot, ankle, knee joint or buttocks portion with the action of human body or animal body; And the method that shows these actions based on the pressure on the foot that records and active force.The present invention also comprises the software that uses in the device that shows these pressure and active force and/or action and these devices.Especially show foot turn up or in stir work.
Background technology
The perseveration of training of for example jogging or hurry up can cause damage.Hurry up damage in HumanKinetics periodical in 1996 by having done to analyze and report by Knutsen and Hart in the chapter 22 of editors such as Caine " Epidemiology of Spots Injuries ".Form the i.e. damage of some common recognition and form gradually, i.e. the accumulative effect of repeated loading, however violent training process also can aggravate damage.A kind of common damage is a knee pain, yet for example tendinitis, toe fascitis, flat foot turn up that (pes planovalgum), metatarsalgia and calcanean spur, adductor are sprained behind heel string or the tibia, iliotibial tract friction syndrome, ilium shin are sprained, shin stress syndrome, knee joint skelalgia, sprain of ankle, backache (especially low level backache and sciatica), buttocks or inguiodynia, big skelalgia, foot pain and bursitis are also reported in tendon injury.
For alleviating these symptoms, the someone advises correcting the training mistake, corrects the muscle imbalance, distinguishes and corrects the organization of human body variation, corrects the form of hurrying up, uses that running shoes, EARLY RECOGNITION damages, cured the wound in early days, drug prescription and use corrective surgery etc.For realizing these purposes, recommend the human body physical examination, comprise and distinguish and estimate the kinematic chain disorder and distinguish relevant somatometry and the functional characteristic of risk that damages in earlier stage and measure with the damage of hurrying up.
There are a lot of diagnostic methods to use, for example CT scan, X-ray, MRI scanning and physical examination for the doctor.Yet these carry out under static schema usually.All the time need a kind of method of distinguishing latent lesion and diagnosing the cause of existing wound, this method is also easy to use, needs the equipment needn't in the clinic or hospital makes and needn't be by the professional medical personnel operation.
US 4267728 discloses a kind of device that is used to analyze foot, and it comprises gait that is used for reference object and the television camera of taking the sole of the foot face of foot by transparent platform.This platform comprises many beams, every beam by the device that is used for the load of detection effect on every beam at two supports.This device also comprises the circuit of the Center of Pressure of determining to put on every beam.The Center of Pressure and from the video of video camera output is displayed on the suitable display.
Another uses the device of walking band to be recorded in WO 95/31933.In the lasting walking stage, the working pressure pick off measures the dynamic pressure effect of definite foot by measurement for angle in 2 D and muscle potential energy and the relative position of selected body part changes.Monitor gait by video camera in addition.
US 4813436 another motion analysis systems of record, it comprises the mark that is fixed on each joint and pressure-sensitive footwear or sole place.When action, use two video carrier reference objects.The out of Memory of the angle position in gait, each joint and indication walking feature is shown.
These known methods require that each is examined the patient and use complicated and expensive video camera to be.About video camera and complicated another problem that is not equipped with are that this makes easily and the patient is diverted attention and moves in abnormal mode with.Therefore need provide simple and unobtrusive gait analysis equipment.Even also having a problem is that the explanation of a large amount of and complicated data also is difficult for passing through the doctor and the plastic surgery expert that train.
Summary of the invention
An object of the present invention is to provide a kind of method and apparatus to help body posture or the action problem diagnosis of---especially attitude and gait defective or problem---, and help the diagnosis of the fatigue that the repeating motion in the training process causes.The invention provides the pressure that shows on the foot and active force and they are associated with the action of part human body or animal body, especially for example the method for the action of the low level skeleton of foot, ankle, knee joint or buttocks; And the method that shows the action that at least some are such based on the pressure that records on the foot and active force.
Another purpose of the present invention provides and shows these pressure and the device of active force and/or action and the software that is used for this device.Especially provide show foot turn up and in stir the multiple arrangement of work.The advantage of apparatus and method of the present invention is that they do not need each human or animal to be checked is used video camera and only catches initial value.
In one aspect, the invention provides the method that foot pressure that the working pressure sensing device is presented at human or animal in the action distributes, this method comprises: from pressure sensor device be captured in stand or move during by the foot applied pressure and therefrom derive the pressure of at least three parts on stressed foot surface; And derive the time-evolution of force value of at least three parts of foot stress surface.This method also comprises the time-evolution of force value of at least three parts of the stress surface that shows foot.Can calculate and show bonded time-evolution in addition from least two force value of two different pieces of foot stress surface.The demonstration of any force value can combine with the demonstration of the reference value of same parameter, and this reference value for example can the representative amount of healthy population obtain from masses.
The present invention also provides a kind of working pressure sensing device to show the method that the 3D when human or animal's sufficient bone and the bone that is attached thereto are in static or motion represents, this method comprises: from pressure sensor device be captured in stand or move during by the pressure of foot's effect and therefrom derive the force value of the each several part of sufficient stress surface; Derive the change in location of one or more bone from the force value of being caught; And show the foot of the change in location comprise one or more bone and the 3D rendering of the bone that links to each other.
This method can comprise to be derived before the revolving of heel and Forefoot at least and the step of supination degree from the force value of being caught.Because these parameter associations are in the motion of bone---for example tibia rotation---so they are useful parameters.At least in the demonstration that is interrupted, can be represented as the function of time before each of heel portions and Forefoot revolved with the supination degree.Use the interruption demonstration to make simpler.
This method also is included in static or when action and catches the pressure on the foot and therefrom infer the degree of revolving preceding or supination of heel and foot middle part and Forefoot at least from pressure sensor device.At least for heel, foot middle part and Forefoot, these parameters can show the function to the time in discrete display.This method preferably comprise with revolve that preceding or supination degree is shown as that heel contacts to earth and Forefoot liftoff between the function of elapsed time.
For helping to distinguish off-note, the present invention can be included in the heel at least that shows the human or animal and Forefoot revolve preceding or supination degree the time show the benchmark degree of revolving preceding or supination of heel and Forefoot at least, for example the heel at least that shows the human or animal, foot middle part and Forefoot revolve preceding or supination degree in show the benchmark degree of revolving preceding or supination of heel, foot middle part and Forefoot at least.
The present invention also provides when static or when motion and shows human or animal's sufficient bone and the illustrated device of 3D that is attached thereto bone with pressure sensor device, comprising: from pressure sensor device be captured in stand or move during the device of pressure on the foot; Derive the device of the position change of one or more bone from the pressure of being caught; And the sufficient bone and the device that is attached thereto the 3D rendering of bone that show the change in location that contains one or more bone.
This device can comprise from the pressure of being caught derives the device of the degree of revolving preceding or supination of heel and Forefoot at least.This device can be included in the separate display heel and Forefoot at least separately revolve the device that preceding or supination degree is shown as the function of time.
This device can comprise from the measured pressure of pressure sensor device derive the device that revolves preceding or supination degree of heel at least and foot middle part and Forefoot and separate display at least in the middle part of heel and the foot and Forefoot separately revolve the device that preceding or supination degree is shown as the function of time.For example, device has and is shown as with revolving preceding or supination degree that heel contacts to earth and the device of the function in Forefoot liftoff institute elapsed time.This device also can be included in the heel at least that shows the human or animal and Forefoot revolve preceding or supination degree the time show the device of the benchmark degree of revolving preceding or supination of heel and Forefoot at least.In addition this device can be included in the heel at least, foot middle part and the Forefoot that show the human or animal revolve preceding or supination degree the time show the device of the benchmark degree of revolving preceding or supination of heel and foot middle part and Forefoot at least.
The present invention also comprises the computer program that contains code, when carrying out this code on processing engine, can realize any method of the present invention.The present invention also comprises the machine-readable storage device of storage computation machine program product.
Description of drawings
Below will the present invention will be described by way of example and with reference to accompanying drawing, in the accompanying drawings:
Fig. 1 schematically illustrates the foundation of catching the initial value that is distributed by the foot applied pressure and the video of one or more motions.
Fig. 2 A-D is in the pressure distribution of left and right sides foot shown in Fig. 2 A and the 2B, and the distribution in the pressure area of a part at limited quantity of these pressure shown in Fig. 2 C and the 2D.
Fig. 3 A and 3B are at the shank that shown in Fig. 3 A mark is connected in individuality, and Fig. 3 B is still the video from the motion of lower limb or foot.
Fig. 4 illustrates and shows various tonometric 6 screens that develop in time on the foot according to an embodiment of the invention.
Fig. 5 schematically illustrates the system of diagnosis according to an embodiment of the invention.
Fig. 6 schematically illustrates diagnosis computer system according to an embodiment of the invention.
Fig. 7-10 illustrates the 3D rendering that produces according to one embodiment of the invention, and the tonometric heel based on type shown in Figure 11 shown in it revolves preceding and supination (selectively making it to become animation).Fig. 7 illustrates centre position (left foot), Fig. 8 illustrates rear foot supination (left foot), and Fig. 9 and Figure 10 illustrate the rear foot and revolve preceding (left foot).
Figure 11 illustrates according to an embodiment of the invention performance and relates in a plurality of screens that pressure that heel rotates develops in time one.
Figure 12 illustrate into calcaneus and anklebone.
Figure 13 and 14 illustrates according to an embodiment of the invention performance and relates in a plurality of screens that the equilibrated pressure of foot develops in time one.
Figure 15 and 16 illustrates according to an embodiment of the invention from expression equilibrated Figure 13 of foot and the 3D rendering that pressure measxurement produced (selectively making it to become animation) shown in Figure 14.Figure 15 illustrates the foot middle part and revolves preceding (left foot), and Figure 16 illustrates the foot middle part and revolves preceding (left foot).
Figure 17 illustrates the 3D rendering that produces according to one embodiment of the invention, shown in it based on expression equilibrated Figure 13 of foot and tonometric nut bone shown in Figure 14 descend (selectively making it to become animation).
Figure 18 and Figure 19 illustrate according to an embodiment of the invention from the expression equilibrated 3D rendering that pressure measxurement produced shown in Figure 20 of Forefoot (selectively making it to become animation).Figure 18 the Forefoot supination is shown and Figure 19 illustrate Forefoot revolve before (left foot).
Figure 20 illustrates in a plurality of according to an embodiment of the invention screens, and its expression relates to the differentiation in time of the equilibrated pressure of Forefoot.
Figure 21 illustrates in a plurality of according to an embodiment of the invention screens, and its expression relates to the differentiation in time of the equilibrated pressure of sufficient middle front part.
Figure 22 illustrates according to an embodiment of the invention from the equilibrated 3D rendering that pressure measxurement produced shown in Figure 21 of sufficient middle front part (selectively making it to become animation) is shown.Figure 22 illustrates crooked first incident line (selectively making it to become animation).
Figure 23 illustrates according to an embodiment of the invention from the 3D rendering that pressure measxurement produced (selectively making it to become animation) shown in Figure 24 that the metatarsal load is shown.Figure 23 illustrates unsettled Forefoot (left foot).
Figure 24 illustrates according to an embodiment of the invention in a plurality of screens that pressure that expression relates to the metatarsal load develops in time.
Figure 25 illustrates according to an embodiment of the invention from the 3D rendering that pressure measxurement produced shown in Figure 26 (selectively making it to become animation) of metatarsal load is shown.Figure 25 illustrates stable Forefoot (left foot).
Figure 26 illustrates according to an embodiment of the invention in a plurality of screens that pressure that expression relates to the metatarsal load develops in time.
Figure 27 and 28 illustrates according to the dependency between pressure measxurement of the present invention and the individual bone motion measurement.
The specific embodiment
The present invention will be described below in conjunction with some embodiment and accompanying drawing, but the present invention is not limited thereto but be defined by the claims.
The present invention relates to the problem of body posture or motion, especially attitude and gait defective or diagnosis are because the diagnostic method and the device of the fatigue problem that repeating motion causes in the training.For example, using method of the present invention and device are used to show pressure on the foot and active force and they are associated with the motion of human or animal body, the especially for example motion of the low level skeleton of foot, ankle, knee joint or buttocks.The present invention also provides based on the pressure on the foot that records and active force and shows at least the method for some this type games and the software that is used for this device.Specifically provide show strephexopodia or in stir the device of work.These methods of the present invention need not each human or animal to be checked is used video camera and only need catch initial value.
The invention provides the foot of measuring the human or animal is in static (promptly standing) or cause when walking, hop, jump or running active force and/or pressure distribution and derive the device that can be used for diagnosing or preventing or treat the information of damage from these measurements.The information of being derived is to move the especially outside or inside rotation of tibia about all part of the kinematic chain of foot particularly.
The present invention is based on such observed result, although promptly extremity and joint thereof have degree of freedom and various motion significantly in theory, but in fact when the human or animal stands, runs, hops and walks because need keep one's balance, these motions are restricted.All parts of the kinematic chain that links to each other with foot are not independent of each other in addition.For example upright and rotate upper body as people, because the internal connection between all the part of the kinematic chain between upper body and the foot causes the pressure distribution of foot to change.The present invention utilizes these associations only to show the action of all parts of kinematic chain based on the pressure measxurement of carrying out on single foot or the both feet.
According to embodiments of the invention, for example the motion of lower limb parts such as foot, ankle and shin is shown with the 3D form based on the measurement that develops in time of the local pressure of underfooting during for example hopping in the pressure gauge, jump, walk or running.In one embodiment, by determine according to experience local pressure in time differentiation and the relation between the motion of the bone of foot bone, the kinematic chain that links to each other with foot the kinesiology modeling is provided.
First initial step of the method according to this invention is to gather about the data that distributed by the foot applied pressure in some activity of for example standing, hop, jump, walking and the running average sample normal alive as the human or animal population.Its a kind of realization configuration as shown in Figure 1.It comprises and places ground pressure sensor device 10, pressure sensor device 10 and the suitable electronic device of reading with have the treatment facility of video display unit and link to each other with a plurality of videos and/or still camera.Pressure sensor device 10 can be the pressure sensing array of a plurality of pick offs, product type FootScan on sale on the market that for example Belgian RsScan provides.Yet the present invention is not limited to the static pressure plate.The pressure transducer of array of pressure sensors that can be by for example placing or be integrated in sole is measured by body part (for example foot) applied pressure.Use this pressure transducer, object can stood, hop, jump, walk or run on the disclosed moving belt on the flat surfaces or in WO 95/31933.
Object is stood, hops, jumps, is walked or run on pressure sensor device 10, and when using 11 pairs of objects of one or more video cameras to take pictures and/or record a video, single foot or the double-legged local pressure of object during standing or moving is hunted down.
Typical pressure is marked on a map and is illustrated among Fig. 2.Fig. 2 a and 2b illustrate the pressure distribution from left foot and right crus of diaphragm.The relative value of pressure is represented as the variation of brightness.Preferably be divided into several region according to an aspect of the present invention and simplify this original pressure data by pressure is marked on a map.These districts preferably relate to the important district of anatomy of foot.Fig. 2 c and 2d illustrate preferred subregion.These districts are side heel (12), middle heel (13), metatarsal region 1-5 and (14-18).Preferably, do not use the halluces (19) of foot and two districts of middle part (20).Pressure distribution on the thumb only accounts for very little load and foot middle part usually in the whole foot action of being everlasting pressure distribution can lack as shown in Figure 2 or can lack when people's dress has the footwear of following and raising instep always.Because this pressure area is not the pressure that occurs marks on a map, does not therefore preferably rely on this pressure area always.
Side heel (12) and middle heel (13) pressure area are self-explantory.Pressure on their each sides of expression heel.The pressure area of 5 metatarsal regions (14-18) relates to by 5 metatarsal applied pressures.
Each above-mentioned district 12-18 is calculated representative pressure.Can use the suitable average scheme of asking to determine average pressure, for example each differentiation is slit into some sub-districts and each is asked average than the sub-district.Therefore be 7 pressure of 7 district's records in this embodiment at every turn.
The object of walking on pressure plare preferably has with lower limb the mark 21 of link to each other with foot (seeing Fig. 3 a and 3b), its position and/or move can be by video camera 11 records.Mark 21 can be to pass skin and be attached to pin to Os Elephatis.The protruding end of pin can be connected with suitable mark, for example the fluorescent mark known to the those skilled in that art.For mark is fluoresced, can use infrared ray or Burdick lamp.
In each test run, pressure sensor device 10 is used for exporting and being recorded in standing or by-local forces what on the foot and/or pressure evolution in time between moving period.These pressure and active force are stored in the mass storage device with electronic form, for example the disk memory of hard disk or floppy disk etc., magnetic tape storage, such as the CD of CD-ROM or DVD-ROM.Subsequently or in real time or off-line ground storing value is converted to seven force value of seven pressure area 12-18.Equally, be stored in (Fig. 3 b) in the identical mass storage device by video camera 11 captured pictures and/or video.Preferably, have between the record data of form of ownership that base can compare with the value in any other record data with each value in each record data for same target when common.These data are stored as the benchmark data with normal attitude, gait walking.
According to one embodiment of present invention, the foot of normal subjects or other follow-up object for example the differentiation in time of the force value during hopping, jump, walk or running also be displayed in the window of limited quantity.Ideally, these windows are selected so that they have some anatomy dependency.The general colliding surface at first of heel during hopping, jump, walk or running.Mark on a map for pressure/time first 10%, heel provides the main influence on the pressure distribution.Along with body weight be transferred to foot directly over, heel and metatarsal region (foot middle part) together are subjected to load.Health thereafter approximately 35%-50%---be between the 45%-60% that marks on a map pressure/time---posture position mediates.---for example pressure/time mark on a map last 40%---has only the front portion (Forefoot) of foot to contact with ground when built on stilts.Preferably for heel and Forefoot at least, more preferably show the local pressure record and it selectively is stored in the memorizer for heel, foot middle part and the Forefoot of pressure/temporal evolution figure.Value is from 7 pressure areas 12 and or by adding or combining so that the force value of the particular anatomical important parameter that is associated with gait to be provided by subtracting.Heel pressure can by will from district 12,13 lateral root portion and middle heel force value mutually adduction normalization is as a result obtained.Similarly, Forefoot pressure can be by obtaining normalization as a result from the value phase adduction of 5 metatarsal region 12-18.
The preferred approach of display result is the pressure distribution and the Center of Pressure of record foot, for example any one or all seven the district 12-18 pressure distribution and Centers of Pressure, such as heel and Forefoot, be preferably heel, foot middle part and Forefoot, for revolving preceding or supination degree heel and Forefoot at least, be preferably heel, foot middle part and Forefoot, preferably have the time of foot when moving.For above-mentioned each district 12-18, calculating the Center of Pressure from this pressure measxurement is known for those skilled in that art.The calculating of revolving preceding or supination is that the force value by seven districts on the left side of the center line of foot relatively and right side realizes.Preferably, device comprises heel and Forefoot at least, be preferably heel, foot middle part and Forefoot each revolve preceding or supination degree as the function of time device shown on display screen separately.The relative pressure of center line both sides that can be by analyzing foot for example deducts the degree that side heel value determines to revolve preceding or supination by heel value therefrom.
The static state that each display screen is preferably the Center of Pressure variation of for example representing heel, foot middle part and/or Forefoot shows, wherein X-axis is the time, for example be shown as that heel clashes into for the first time and the percentage of time of toe between liftoff, and Y-axis is to revolve preceding or the supination degree.These display screens illustrate the balance of all part of foot, promptly revolve preceding or the supination degree.
One group of suitable screenshot capture as shown in Figure 4, wherein force value is patterned into according to heel and lands and the percent time of toe between liftoff.Screenshot capture is the time dependent demonstration of following at least a situation:
1) heel rotates
2) foot balance
3) foot middle part balance
4) Forefoot balance
5) metatarsal load
The 6th screen that the expression Forefoot rotates also can be calculated and be shown.These screens will be illustrated in greater detail below.
By the normal subjects in the certain limit is measured these force value, can obtain one group of Center of Pressure and the ideal curve of time based on normal subjects, for example be illustrated as from heel and clash into to the liftoff percentage of time of toe.Before can obtaining just to revolve/supination and rotations of the heel of time lapse, sufficient balance, foot in the middle part of one or more in balance, Forefoot balance and/or five kinds of demonstrations of metatarsal load as normal subjects.Because the result is dispersive always, therefore these values are stored as the normal state range storage rather than as discrete point.When showing the pressure distribution of object to be measured, these normal state scopes can be used as benchmark.
Optionally next initial step is to repeat above-mentioned experiment with the people with known gait defective.In this case, can obtain heel rotation, foot balance, foot middle part balance, Forefoot balance and/or metatarsal load on revolve before/display screen of improper action under the supination situation and with itself and reference value comparison.
Next initial step is that the video camera 11 by having above-mentioned a plurality of display screens is determined the accurate motion of lower limb and the absolute and relative motion of each bone when checking the size (footage) of photo/video and getting in touch force value.When determining concerning between the motion of pressure distribution and bone, can use dissection knowledge.
But the result by video camera and pressure plare determines the recognition feature of the pressure curve that shows in the display screen
(for example before revolve to supination or from maximum or the minima of supination before revolve) and script body or with kinematic chain that foot links to each other the motion (for example rotation) of bone between relation.Regular event and malfunction be characterization by this way all.For example relation between preceding and the tibia inward turning is revolved at heel or sufficient rear portion and the relation between foot rear portion or heel supination and the tibia outward turning can be determined as Figure 12 is schematically shown.The cause of this relation is, needs to keep balance to make the people not be unlikely to the side so that heel is associated with the tibia inward turning before revolving and falls.Another example of this relation be the appearance indication heel bump of the pressure spike in the profile of equilibrium of foot middle part and the toe time between liftoff about 20-40% place because nut bone decline cause revolve before.
Before these relations are revolved as any heel/before supination, foot middle part are revolved/before supination, Forefoot are revolved/special characteristic in the curve of supination, sufficient front middle part balance and the load of Forefoot metatarsal or above-mentioned any combination is recorded and is stored in the memorizer.These special characteristics be associated with each bone in the kinematic chain separately move for example specific rotation.The motion separately of each bone can qualitative mode be stored, and revolves preceding pressure spike if certain appears in certain point promptly in a plurality of demonstrations, then it is realized that along certain direction certain rotation gives record as one in all bones that make kinematic chain.Perhaps, each autokinesis can quantitative manner be associated with each feature in the display screen, and degree is associated with the angle of rotation of bone in the kinematic chain quantitatively before promptly revolving.
Fig. 5 is the sketch map of measuring according to an embodiment of the invention with diagnostic system 1, and this system 1 is convenient to operate, does not need video camera except the initial value of catching with candidate device, and the understandable pictorial representation of the motion of the kinematic chain that links to each other with foot is provided.The mark that this device is used for new object (after using initial object to obtain fundamental relation) and need not video camera or link to each other with lower limb.
This system comprises: the knowledge data base 2 that stores relation above-mentioned; The processing engine 3 of computer or work station for example; The for example display 5 of conventional video display unit and physical features acquisition equipment 4.As selection, can provide pictorial representation and the pressure/time graph independent displaying of second display 6 so that bone is moved.Knowledge data base comprises that not only above-mentioned relation also comprises the 3D pictorial display of a part of skeleton, the lower limb that for example contain sufficient bone with the 3D pictorial display of height to the kinematic chain of knee or the high bone that links to each other with foot to buttocks.As selection, these 3D show and occur with animated.Preferably show the 3D figure with suitable 3D graphics software, described 3D graphics software allows to control 3D rendering, for example from the place ahead or rear, from both sides or from above or below watch or watch animation or suspend animation.Described animation can the rest image sequence form.3D pictorial display cartoon method is known for the graphics software engineer.The selection of not expecting concrete animation method has substantial effect in the present invention.Animation can and be stored in relation in the memorizer based on record, before revolving as any heel/before supination, foot middle part are revolved/before supination, Forefoot are revolved/and concrete feature in the curve of supination, sufficient front middle part balance and the load of Forefoot metatarsal or its any combination.These concrete features relate to each autokinesis of all bones in the kinematic chain, for example special rotation.The motion separately of each bone can qualitative mode be stored, if certain that pressure spike appeared at demonstration before promptly certain revolved a bit on, then it is recorded as one of all bones of making kinematic chain and realizes certain rotation along certain direction.Perhaps, can make each motion be associated with each feature in the display screen, just make and revolve the rotational angle that preceding degree is associated with bone in the kinematic chain quantitatively with quantitative manner.
Processing engine comprises processor and memorizer and has the computer program that is stored in wherein, is used to realize the inventive method, is particularly useful for making the pictorial display of lower limb form animation according to the feature of deriving from pressure measxurement.The physics acquisition equipment is any suitable pressure sensor device, for example by Belgian RsScan provide such as the FootScan type, its output and single foot or related data of double-legged applied pressure by object.Described FootScan is provided by Belgian RsScan.Yet the present invention is not limited to the static pressure plate.Can record by pressure transducer by body part applied pressure, for example place or be integrated in the array of pressure sensors of sole such as foot.Use this pressure transducer, object can be stood, hop, jump, walk or run on flat surfaces or WO 95/31933 disclosed moving belt.Pressure sensor device is preferably same device or equivalent device with the device that is used for producing about the information that is stored in the normal and/or undesired gait in the knowledge data base in advance.
Each object is stood, hops, jumps, is walked or run on the physics acquisition equipment and is stored about the output of pressure distribution and Center of Pressure.Especially, when the athlete carried out high pressure training to repeat identical motion, these athletic meeting caused fatigue, inflammation or injured.The present invention includes physical therapy method based on the display result of pressure evolution in time.In order to alleviate these symptoms, can take following measures: correct training wrong, correct muscle imbalance, identification and correction textural anomaly, correct the pattern of running, use the running shoes of customization, distinguish wound in early days, cure the wound in early days, drug prescription and use redressment etc.For helping to analyze, the software program that operates on the processing engine preferably converts the pressure measxurement of foot striking face to cut apart pressure area 12-18 as mentioned above like that.The one or more software programs that operate on the processing engine are prepared to show one or more demonstrations for example shown in Figure 4 subsequently.These demonstrations are important demonstrations of the present invention.They can be explained with diagnosis and/or software program and can be played a role in this explanation by those skilled in that art.As example and selection, operate in one or more software programs of handling on the situation and detect characterization feature in the force value that heel, foot middle part and/or Forefoot are recorded, before especially heel being revolved/before supination, foot middle part are revolved/before supination, Forefoot are revolved/pressure measured in supination, sufficient front middle part balance and/or the load of Forefoot metatarsal is to time value.This detection is that carry out automatically and help that need not video camera.In case determine the specific characteristic of force value, then their conversion skeletonization moved according to the default qualitative or quantitative relationship that is stored in the knowledge data base.
These bone motions are used to and will be stored in the 3D pictorial display animation of the skeleton in the knowledge data base.Now some examples will be described.As mentioned above, during running or walking, obtain the result of 3 part gaits from pressure measxurement:
-sufficient rear portion (by the pressure of heel middle part, the decision of rear flank heel pressure district)
-foot middle part (pressure area from heel and Forefoot works)
-Forefoot (by metatarsal I, II, III, IV, V, the definite pressure in pressure area)
Fig. 6 is the sketch map that can utilize method of the present invention or be used for the computing system of system of the present invention.Described computer 30 can comprise the data input device of video display terminal 34, for example keyboard 46 and the graphic user interface indicating device of mouse 48 for example.Computer 30 can be embodied as general purpose computer, for example personal computer or unix station.
Computer 30 comprises: CPU (CPU) 45, and the custom microprocessor of the Pentium 4 processor that provides by American I ntel company for example, it only is an example; And via a plurality of other unit of system bus 22 interconnection.Computer 30 comprises at least one memorizer.Memorizer can comprise in the known any several data storage device of those skilled in that art, for example the non-volatile read/write memory of random-access memory (ram), read only memory (ROM), the known hard disk of for example those skilled in that art.For example, computer 10 also can comprise random-access memory (ram) 24, read only memory (ROM) 26 and system bus 22 is connected in the optional display adapter 27 of optional video display terminal 34 and optional I/O (I/O) adapter 29 that ancillary equipment (for example the Disk and tape driver 23) is connected in system bus 22.Video display terminal 34 can be the video output of computer 30, and it can be any suitable display device, for example known video display units based on CRT in the computer hardware field.Yet if portable or based on the computer of notebook, video display terminal 34 replaceable one-tenth are based on LCD or based on the flat faced display of gas plasma.Computer 30 also comprises and connects keyboard 46, mouse 48, optional speaker 36 and allow the user interface adapter 39 of carrying out optional physical values input from the one or more physical values acquisition equipments such as the pick off 40 of externally measured system 25.Pick off 40 can be any pick off that is suitable for catching the physical parameter (for example both feet or gait) of human body or extremity, and for example the pressure transducer of the pressure transducer of array of pressure sensors and system 25 can comprise pressure plare.Such as hereinafter described, the form that can mark on a map pressure/time shows pressure measxurement.These pick offs can comprise any pick off that is used to catch the required related physical value of grieved diagnosis or physical therapy.Additional or the alternative sensor 40 that is used for catching individual physical parameter also can be connected to bus 22 by communication adapter, and communication adapter is connected to data network such as the Internet, Intranet, LAN or wide area network (LAN or WAN) or CAN with computer 30.This allows to transmit the sign of physical values or physical values on telecommunications network, for example nearby the description of the individual pressure data of place (for example doctor's operating room) input also for example is sent to long-range site via the Internet, processor is carried out the method according to this invention and the 3D video is back near site there, promptly is presented on the visual display unit in doctor's the operating room.
The device that provides by the value of animal or human's a health part (for example foot) applied pressure and/or active force is provided for term " physical values acquisition equipment " or " pick off ".Scope of the present invention also comprise from print plot read and with keyboard 36 directly the input computers or from for example 23 storage device input the related physical value.
Especially, the data structure of a knowledge database stores association can be stored on the computer 30.This related data structure records relates to a plurality of concrete properties of tonogram and the contact of the foot bone and the motion of the bone that is connected in foot.Every kind of contact is the contact between the motion of the bone that records characteristic and discussed of one or more tonograms.Before these contacts also can be stored as and for example will revolve/the supination degree is associated with the analysis equation that bone moves.
In example shown in Figure 6, computer program (being control sequence 51) can reside in the computer storage.Yet importantly those skilled in that art should understand the program product that mechanism of the present invention can be distributed as various ways, and the present invention can be suitable for with being equal to, no matter the concrete form of the actual signal bearing media that is used for realizing this distribution why.The example of computer-readable signal bearing media comprises: such as the recordable-type media of floppy disk and CD ROM and such as the transmission type media of numeral and analog communication links.
Device according to the present invention provides temporal tonogram, especially to the temporal Center of Pressure of above-mentioned three parts of foot and/or make the 3D graphic animations of bone structure of the lower limb of animation according to the motion that goes out from the tonogram analytical derivation.This device is used for measuring new object but does not need the mark of video camera or lower limb.The pressure information of doing about foot-propelled can be presented on the balance screen.Preferably have 5 figures or the tonogram watched by device, each separately or combination:
-heel rotates: the situation that sufficient rear portion supination/before revolving is shown
-foot balance: the preceding situation of the supination at foot middle part/revolve is shown
-Forefoot balance: the preceding situation of the supination of Forefoot/revolve is shown
-sufficient front middle part balance: the bending/first straight incident line
The load of-metatarsal
The 6th screen that the Forefoot rotation is shown also can be calculated and be shown.
The 3D that heel rotates shows that example is illustrated in Fig. 7-Figure 10, and sufficient rear portion is visual from behind.Fig. 7 illustrates the situation when left foot is in the determined centre position of analysis by tonogram.Fig. 8 illustrates supination, and before Fig. 9 and Figure 10 illustrate 5% and 10% revolve.Importantly according to the present invention, not only the action of calcaneus also has the action of subtalar joint correctly to be rendered as the 3D demonstration for kinesiology.The mutual relation between preceding and tibia inward turning and supination of sufficient rear portion and the tibia outward turning is revolved at sufficient rear portion formed according to the present invention.These rotary modes also correctly are presented in the animation.Figure 11 illustrates the screen of heel rotation and marks on a map, and promptly heel pressure is represented as heel middle part pressure over time and deducts rear flank heel pressure: HM-HI.Fig. 7-3D shown in Figure 10 shows from this type of explanation of marking on a map derivation.
Foot balance screen is illustrated among Figure 13 and Figure 14, wherein respectively two different objects is shown the pressure differentiation in time at foot middle part.Y-axis in marking on a map is to revolve the degree of preceding or supination and X-axis is the time, for example the percentage ratio of heel bump and the toe time between liftoff.In this showed, the value that crowd's normal average level is obtained was shown as white as benchmark (it all is like this relating to such all screens that the present invention describes).These two traces provide the time function of the track of Center of Pressure as left foot and right crus of diaphragm.These traces are to calculate by following equation in one embodiment of the invention:
(HM-HL)+(M1+M2-M3-M4-M5)＝(HM+M1+M2)-(HL+M3+M4+M5)
In this equation, HM is the middle heel pressure from district 12, and HL is that M1-M5 is the force value from the pressure area 14-18 of metatarsal from the side heel pressure in district 13.What calculate as can be seen from the left-hand side of top equation is pressure differential between the foot both sides.Big force value refers to a large amount of revolve preceding or supination.Change the upset of representing foot from supination to revolving preceding maximum pressure.All these variations relate to the position of the bone of tibia for example and can be interpreted as the foot kinematic chain or from the bone motion of the kinematic chain of foot.Those skilled in that art can explain that these mark on a map and make suitable diagnosis.The present invention also comprises the further software tool of auxiliary diagnosis.
For example, select among the embodiment, in these are marked on a map, revolve the maximum of preceding and supination and/or revolve variation between preceding and the supination was detected and be converted to bone structure by software algorithm 3D animation of the present invention.Show correctly that with 3D animation (selectively making it to become animation) these relate to the equilibrated bone motion of foot subsequently---as Figure 15 and shown in Figure 16.Observe from the front specifically, Figure 15 shows that the foot middle part revolves preceding and Figure 16 shows foot middle part supination.
The feature of being determined by algorithm is the peak value that appears at middle attitude, for example in 20% and 40% of total attitude time.Because peak value depends on heel and Forefoot, so this peak value can be any supination and revolve preceding value.The more important thing is this algorithm determines whether there is peak value in this position.This peak value can be seen in Figure 13 and Figure 14 and mark with arrow.Trace among Figure 13 and Figure 14 obviously is different from the reference range of the normal subjects of representing with white portion.It is because the nut bone of medial side descends that this peak value is positioned at the middle attitude position.This correctly is presented in the 3D animation shown in Figure 17, is to observe from the top specifically.
The equilibrated screen display of expression Forefoot goes out Forefoot and revolves preceding/supination (Figure 20).The datum curve that crowd's normal meansigma methods is determined is represented as white.In the time of in curve drops on by the scope shown in the white area then for normally revolving preceding motion.
In one embodiment of the invention, the Forefoot balance is calculated as: (M1+M2)-(M3+M4+M5).This equation compares the pressure of the every side of Forefoot separately.Especially in liftoff district, the indication that this provides foot how to turn to a side, for example supination or revolve before degree.This can relate to the position and the motion of bone in the kinematic chain of foot and lower limb.Mark on a map from pressure and to determine that Forefoot revolves preceding or supination, it is displayed in the 3D animation---referring to Figure 18,19.Because metatarsal fully on the ground, therefore can not observe any bending or motion.In this case, can in the 3D animation, show the vision indication of pressure, for example be associated with the arrow of pressure, shown in Figure 18,19 by length.Figure 18 the Forefoot supination is shown and Figure 19 illustrates Forefoot revolve before.
Figure 20 be illustrated in Figure 18 and the 3D animation shown in Figure 19 by in the observed middle attitude of the variation of arrow length in the short time district from the quick variation of supination before revolve.Its indicated object is the upset foot when distribution of weight is changed to before the heel after heel.
Another screen is sufficient front middle part balance.This has indicated the comparison between the pressure under metatarsal II and the metatarsal I.For example, can show marking on a map of pressure differential between metatarsal II and the metatarsal I.If should be worth greater than 0, then the pressure under the II is greater than the pressure under the I and the first crooked incident line of appearance---see that the corresponding 3D among Figure 21 and Figure 22 shows (selectively making animation).If should value less than 1, then the pressure under the II is less than the pressure under the I and the first straight incident line occurs.This demonstration calculates by M2-M1.
Another useful screen is the metatarsal load.Show that one marks on a map, it will compare than differentiation in time of outer metatarsal applied pressure and the differentiation in time of interior metatarsal applied pressure.For example can with the pressure under II and the III mutually adduction after with addition that obtain and that deduct I, IV and V metatarsal and: (M1+M3)-(M1+M4+M5).If the value that calculates is greater than zero, then the pressure under II and the III is greater than the pressure under I, IV and the V.Unsettled Forefoot as shown in this expression is schemed as the 3D among Figure 23 and pressure shown in Figure 24 is marked on a map.If the value that calculates is less than zero, then the pressure under II and the III is less than the pressure under I, IV and the V, and this represents stable foot.The 3D of this situation show as shown in the pressure of Figure 25 and Figure 26 is marked on a map like that.Stable Forefoot has more as arciform pressure distribution, and arc is stable structure more.
Relation between above-mentioned pressure measxurement and the bone motion is schematically illustrated in Figure 27 and Figure 28.Figure 27 a illustrates tibia and rotates.The heel of same target shown in Figure 27 b rotates the Forefoot balance and the equilibrated pressure of foot is marked on a map.The analysis of marking on a map by these pressure can obtain the significant correlation with the bone motion.As can be from Figure 27 b as seen, the peak value that the tibia on right side rotates among the peak value on right side and Figure 27 a in the foot profile of equilibrium be associated.Equally, the peak value in the left side that heel rotates among Figure 27 b is associated with the peak value in the left side of tibia rotation.
Calcaneal turning up shown in Figure 28 a/in turn over and Figure 28 b illustrates that the heel of same target rotates, Forefoot rotates and the foot profile of equilibrium.The degree of association that turns over the rotation of motion and heel in the curve heel according to Figure 28 b reaches 0.988.
Although in conjunction with preferred embodiment the present invention is carried out illustration and description, those skilled in that art can understand can make on the various forms and details on change or modification and not breaking away from as the defined the spirit and scope of the present invention of appended claims.For example, in another embodiment of the present invention, obtain 3D by another kind of method and show.At first, the 3D from a large amount of low level skeletons of a large amount of crowds that occurs with the accompanying drawing form shows to be stored in the related pressure of each object and marks on a map in the related knowledge data base.For example, can store the video that obtains by the relevant database index and thus it is associated with pressure and marks on a map.
When measuring new object, the computer program that resides in the processing engine restores new data the data that extremely exist and selects the most approaching coupling to record the video that exists of data.The existing data of if there is no fully mating new data, then the computer report fails to find coupling.In case the coupling of finding then show this coupling.The shortcoming of this method is to make more measurements to the object that has mark, and this is inconvenient.
Claims (18)
1. the method represented of each bone that shows human or animal's foot bone with pressure sensor device and be connected in foot bone 3D when static or during motion, described method comprises:
Be captured in foot applied pressure when standing or moving and therefrom derive the force value of the each several part of foot striking face from described pressure sensor device;
Derive one or more change in location described each bone from the force value of being derived; And
Show the described foot of the change in location that comprises described one or more bone and the 3D rendering of each bone that links to each other.
2. the method for claim 1 is characterized in that, also comprises from the force value of the being derived step of the degree of revolving preceding or supination of heel and Forefoot at least of deriving.
3. method as claimed in claim 2 is characterized in that, comprises that also each the degree of revolving preceding or supination with heel and Forefoot at least is shown as the function of time in display independently.
4. method as claimed in claim 3 is characterized in that, comprises that also the force value of deriving from described pressure sensor device derives the degree of revolving preceding or supination of heel and foot middle part and Forefoot at least.
5. method as claimed in claim 4 is characterized in that, also comprise with heel at least and foot middle part and Forefoot each revolve preceding or supination degree is shown as the time in display independently function.
6. as each described method in the claim 3 to 5, it is characterized in that, also comprise the degree of will revolve preceding or supination be shown as heel contact to earth and Forefoot liftoff between the function of elapsed time.
7. as each described method in the claim 3 to 5, it is characterized in that, also be included in the heel at least that shows the human or animal and Forefoot revolve preceding or supination degree the time show the benchmark degree of revolving preceding or supination of heel and Forefoot at least.
8. method as claimed in claim 6 is characterized in that, also be included in the heel at least that shows the human or animal and Forefoot revolve preceding or supination degree the time show the benchmark degree of revolving preceding or supination of heel and Forefoot at least.
9. method as claimed in claim 7 is characterized in that, also be included in the heel at least, foot middle part and the Forefoot that show the human or animal revolve preceding or supination degree the time show the benchmark degree of revolving preceding or supination of heel, foot middle part and Forefoot at least.
10. method as claimed in claim 8, it is characterized in that, also be included in the heel at least, foot middle part and the Forefoot that show the human or animal revolve preceding or supination degree the time show the benchmark degree of revolving preceding or supination of heel, foot middle part and Forefoot at least.
11. the device that the 3D of each bone that a working pressure sensing device shows human or animal's foot bone and is connected in the foot bone when static or during motion represents, described device comprises:
Be used for being captured in the pressure on the foot when standing or moving and therefrom deriving the device of force value of the each several part of foot striking face from described pressure sensor device;
Be used for deriving one or more the device of change in location of each bone from the force value of being derived;
And
Be used to show the described foot of the change in location that comprises described one or more bone and the device of the 3D rendering of each bone that links to each other.
12. device as claimed in claim 11 is characterized in that, also comprises being used for deriving the device of the degree of revolving preceding or supination of heel and Forefoot at least from the force value of being derived.
13. device as claimed in claim 12 is characterized in that, comprises that also each the degree of revolving preceding or supination that is used for heel and Forefoot at least is shown as the device of the function of time at display independently.
14. device as claimed in claim 13, it is characterized in that, also comprise be used for from the force value of deriving by described pressure sensor device derive the device that revolves preceding or supination degree of heel and foot middle part and Forefoot at least and be used for in the middle part of heel and the foot at least and Forefoot each revolve preceding or the supination degree is shown as the device of the function of time at display independently.
15. each the described device as in the claim 12 to 14 is characterized in that, also comprise the degree that is used for revolving preceding or supination be shown as heel contact to earth and Forefoot liftoff between the device of function of elapsed time.
16. as each the described device in the claim 12 to 14, it is characterized in that, also comprise being used for showing the device of the benchmark degree of revolving preceding or supination of heel and Forefoot at least in preceding or the supination degree revolving of heel at least that shows the human or animal and Forefoot.
17. device as claimed in claim 15 is characterized in that, also comprises being used for showing the device of the benchmark degree of revolving preceding or supination of heel and Forefoot at least in preceding or the supination degree revolving of heel at least that shows the human or animal and Forefoot.
18. device as claimed in claim 16, it is characterized in that, also comprise be used for show human or animal's heel at least, foot middle part and Forefoot revolve preceding or supination degree in show the device of the benchmark degree of revolving preceding or supination of heel, foot middle part and Forefoot at least.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB0505038A GB0505038D0 (en) | 2005-03-11 | 2005-03-11 | Method and apparatus for displaying 3D images of a part of the skeleton |
| GB0505038.0 | 2005-03-11 | ||
| US60/660,468 | 2005-03-11 |
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| Publication Number | Publication Date |
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| CN101166463A CN101166463A (en) | 2008-04-23 |
| CN100588369C true CN100588369C (en) | 2010-02-10 |
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| CN200680012474A Expired - Fee Related CN100588369C (en) | 2005-03-11 | 2006-03-10 | The method and apparatus of the 3D rendering of the part of demonstration skeleton |
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| Country | Link |
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| CN (1) | CN100588369C (en) |
| DK (1) | DK1863385T3 (en) |
| GB (1) | GB0505038D0 (en) |
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| CN104856681B (en) * | 2015-04-14 | 2017-07-21 | 上海斯乃纳儿童服饰用品有限公司 | Outward turning detection method in human body foot type heel |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4267728A (en) * | 1978-07-04 | 1981-05-19 | Manley Michael T | Apparatus for analyzing the forces acting on a human foot |
-
2005
- 2005-03-11 GB GB0505038A patent/GB0505038D0/en not_active Ceased
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2006
- 2006-03-10 DK DK06707515.0T patent/DK1863385T3/en active
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4267728A (en) * | 1978-07-04 | 1981-05-19 | Manley Michael T | Apparatus for analyzing the forces acting on a human foot |
Non-Patent Citations (8)
| Title |
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| Aligning Anatomical structure from Spiral X-ray ComputedTomography with Plantar Pressure Data. M K. Hastings et al.Clinical Biomechanics,Vol.18 No.9. 2003 |
| Aligning Anatomical structure from Spiral X-ray ComputedTomography with Plantar Pressure Data. M K.Hastings et al.Clinical Biomechanics,Vol.18 No.9. 2003 * |
| Biomechanical Analysis of the Three-Dimensional Foot Structure During Gait: A Basic Tool for Clinical Applications. A.Gefen et al.Journal of Biomechanical Engineering,Vol.122 No.6. 2000 |
| 人体足部生物力学的研究. 董骧等.生物医学工程学杂志，第19卷第1期. 2002 |
| 人体足部生物力学的研究. 董骧等.生物医学工程学杂志，第19卷第1期. 2002 * |
| 新型的人体足底静、动态压力测试系统. 洪水棕等.上海生物医学工程，第3期. 1985 |
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| 足部三维有限元模型的建立及应用进展. 潘朝晖等.中国康复，第19卷第6期. 2004 |
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| DK1863385T3 (en) | 2017-04-24 |
| CN101166463A (en) | 2008-04-23 |
| GB0505038D0 (en) | 2005-04-20 |
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