Source: https://patents.google.com/patent/CN102281856B/en
Timestamp: 2018-08-21 17:42:21
Document Index: 662790141

Matched Legal Cases: ['art 3', 'art 3', 'art 5', 'art 3', 'art 5', 'art 3', 'art 4', 'art 2', 'art 3', 'art 3', 'art 3', 'art 5', 'arts 3', 'art 3']

CN102281856B - For automatically aligning the position and the orientation indicator, and a method for monitoring the movement of the body part of the device - Google Patents
For automatically aligning the position and the orientation indicator, and a method for monitoring the movement of the body part of the device Download PDF
CN102281856B
CN102281856B CN 201080004680 CN201080004680A CN102281856B CN 102281856 B CN102281856 B CN 102281856B CN 201080004680 CN201080004680 CN 201080004680 CN 201080004680 A CN201080004680 A CN 201080004680A CN 102281856 B CN102281856 B CN 102281856B
CN 201080004680
CN102281856A (en )
V.M.G.范阿赫特
N.拉姆伯特
提供一种用于相对于身体部位自动对准位置和取向指示器的方法。 A method for providing self-alignment with respect to the position and the orientation indicator of the method a body part. 该方法包括步骤：将位置和取向指示器（2,4）附接到身体部位（3,5）；移动该身体部位并测量该位置和取向指示器的移动；以及使用对运动的物理约束来确定位置和取向指示器相对于身体部位的对准。 The method comprising the steps of: a position and an orientation indicator (2,4) is attached to the body part (3,5); and moving the body part moving the measurement position and the orientation indicator; and the use of physical constraints to motion determining the position and the orientation indicator aligned with respect to the body part.
用于自动对准位置和取向指示器的方法以及用于监测身体部位的移动的设备 For automatically aligning the position and the orientation indicator, and a method for monitoring the movement of the body part of the device
[0001] 本发明涉及用于相对于身体部位自动对准（alignment)位置和取向指示器的方法且涉及用于监测身体部位的移动的设备。 [0001] The present invention relates to apparatus and method for automatic alignment with respect to the body part (Alignment) for the position and the orientation indicator for monitoring a mobile body part of.
[0002] 传统上，物理治疗劳动密集程度很高，因为理疗医师每次只能治疗一个人。 [0002] Traditionally, highly labor-intensive physical therapy, physical therapist because you can only treat one person. 其结果是，传统的物理治疗相当昂贵，这导致为了保持保健系统成本低，仅有限数量的治疗(treatment)被补偿给了患者。 As a result, traditional physical therapy quite expensive, which results in low cost in order to maintain the health system, only a limited number of therapeutic (treatment) is compensated to the patient. 如果患者做更多或更长的物理治疗练习，则他/她获得的效果将会提高，但是始终必须存在的用于物理治疗的成本阻止了更多和/或更长的物理治疗练习的方案（prescription)。 If the patient or longer to do more physical therapy practice, the effect that he / she will get a raise, but the cost must always exist for physical therapy prevents more programs and / or longer physical therapy exercises (prescription).
[0003] 鉴于此，正在开发治疗师的工具，其使得患者能够在较少的来自治疗师的指导的情况下执行物理治疗练习。 [0003] In view of this, the therapist is developing a tool that enables patients to perform physical therapy practice with less guidance from a therapist. 最近，已经提出使用位置和取向指示器来指导物理治疗患者如何以正确方式做他们的练习。 Recently, physical therapy to guide patients how to correctly do their exercises have been proposed for the position and orientation of the indicator. 根据该技术，患者佩戴一个或多个位置和取向指示器来测量该患者的移动。 According to this technique, the patient wears the one or more indicators to measure position and orientation of the movement of the patient. 计算机评估所述移动并且可以向患者提供实时反馈以启发患者以正确方式执行所述练习。 The mobile computer evaluation and can provide real-time feedback to inspire the patient to perform the exercise correctly to the patient. 而且，该计算机可以为治疗师生成进展报告，使得该治疗师可以指导利用这种类型的系统同时工作的例如5个或10个患者。 Moreover, the computer can treat as a progress report for the teachers and students, so that the therapist can use to guide such as 5 or 10 patients with this type of system while working.
[0004] 为了正确评估患者在练习期间执行哪些移动，在许多情况下有必要知道位置和取向指示器(或多个位置和取向指示器）对于患者的身体部位(或多个身体部位）的相对对准。 [0004] In order to properly assess the patient during which movement is performed in practice, it is necessary to know the location and orientation of the pointer (or a plurality of positions and the orientation indicator) to the body part of a patient (or more body parts) in many cases, the relative alignment. 例如，每个位置和取向指示器可以提供有局部坐标系并且该局部坐标系可以未对准分配给相应位置和取向指示器所附接到的身体部位的局部坐标系。 For example, each indicator may provide a position and orientation of the local coordinate system and the local coordinate system can be assigned to a misalignment of the body part and the respective positions of the orientation indicator appended to the local coordinate system. 在图1中示出了这种未对准， 其中具有局部坐标系x_s和y_s的位置和取向指不器附接到具有局部坐标系x_u和y_u的上臂u(作为身体部位)。 In FIG 1 shows such a misalignment, and which has a position and orientation of the local coordinate system x_s y_s the attaching means not having a local coordinate system x_u y_u upper arm and u (as part of the body). 为了应付这种未对准，已经提出使用特定的校准过程（procedure) (其中要求患者摆出预定义的参考姿势）来获取关于位置和取向指示器(一个或多个）相对于身体部位(一个或多个）的对准的信息。 To cope with this misalignment, it has been proposed to use a specific calibration procedure (Procedure) (where the patient to put a predefined reference position) to acquire the position and orientation on the indicator (s) with respect to the body part (a or multiple) alignment information. 该过程在患者开始练习之前执行。 This process is performed before a patient begins to practice. 例如，根据申请人已知的系统，位置和取向指示器由附接到不同身体部位并将位置和取向信息传输至控制单元的运动传感器形成。 For example, known systems are formed according to the Applicant, the position and the orientation indicator of the motion sensor is attached to the different body parts and the position and orientation information is transmitted to the control unit. 当患者处于参考姿势(例如站直，臂（arm)严格向下且手掌朝向腿）时，运动传感器读数被存储为参考读数。 When the patient is in the reference posture (e.g. straightened arm (ARM) and the palm facing downwardly strictly leg), the motion sensor readings is stored as a reference reading. 在系统正常工作期间（即当患者执行练习时)， 运动传感器的当前读数然后可以使用参考读数来校正(例如通过"减去"参考读数)，以便根据运动传感器的取向计算肢（limb)的当前取向。 During normal system operation (i.e., when the patient exercises executed), the current reading of the motion sensor readings may then be corrected using the reference (e.g., by "subtracting" the reference reading), to calculate the limbs (limb of) depending on the orientation of the current motion sensor orientation.
[0005] 然而，如上所述的这种明确的对准过程麻烦的并且因此不是用户友好的。 [0005] However, the above clear alignment process cumbersome and therefore not user-friendly. 而且，如果患者在校准过程期间没有精确地呈现所述参考姿势(且这未被检测到)，则所有基于该对准校准的精度的计算都会失败。 Further, if the patient does not accurately represent the reference posture during a calibration procedure (and this is not detected), all based on the accuracy of the alignment failure of calibration are calculated.
[0006]本发明的一个目的是提供一种用于相对于身体部位对准位置和取向指示器的方法和一种用于监测身体部位的移动的设备，其使得能够对身体部位进行可靠检测而无需单独的校准过程。 [0006] An object of the present invention is to provide a body part with respect to the alignment position and the orientation indicator method and apparatus for monitoring the movement of the body part for which a reliable detection can be performed such that the body part and no separate calibration procedure.
[0007] 该目的是通过根据权利要求1的用于相对于身体部位自动对准位置和取向指示器的方法实现的。 [0007] This object is achieved by claim 1 with respect to a method for the body part and the orientation indicator aligned position automatically implemented. 该方法包括步骤：将位置和取向指示器附接到身体部位；移动该身体部位并测量位置和取向指示器的移动；以及利用对运动的物理约束（physical constraint) 来确定位置和取向指示器相对于身体部位的对准。 The method comprising the steps of: a position and an orientation indicator attached to the body part; moving the body part and measuring a moving position and orientation indicator; and using the physical constraints of the motion (physical constraint) to determine the position and relative orientation indicator aligned with the body part. 以此方式，位置和取向指示器相对于身体部位的对准被自动确定而无需单独的校准过程。 In this manner, the position and orientation of the pointer relative to the alignment of the body parts is automatically determined without the need for a separate calibration procedure. 所使用的对运动的物理约束可以例如是生理运动约束（比如关节或另一身体部位的可能的移动的方向性)和/或由位置和取向指示器的附接的特定方式导致的相对于位置和取向指示器的运动的物理运动约束和/或其他物理运动约束。 The physical constraints of the motion may be used, for example, physiological motion constraints (such as joint or other possible movement of the body part directivity) and / or by the attachment position of a particular embodiment and orientation indicator relative to the position of the leads physical motion and the orientation indicator of the motion constraints and / or other physical motion constraints. 术语身体部位用于人体或动物体的部位。 The term for parts of the body parts of the human or animal body. 身体部位可以例如由臂、腿、脚、 手或由其各部分（比如上臂、下臂、大腿、小腿、手指、脚趾等)形成。 Body part may be formed, for example by an arm, leg, foot, hand or of its parts (such as the upper arm, lower arm, thigh, lower leg, fingers, toes, etc.). 特别地，如果在本申请中臂或腿被视为身体部位，则其部分将同时被视为身体部位。 In particular, if the body part is considered in the present application, an arm or leg, it will also be considered as part of the body part.
[0008] 根据一个方面，所述身体部位包括至少一个关节并且所述至少一个关节的生理运动约束被用作对运动的物理约束。 [0008] According to one aspect, the body part comprises at least one joint and the at least one physiological motion of the joint constraint is used as a physical constraint on movement. 以此方式，直接关联（link)到位置和取向指示器所附接到的身体部位的定义明确的运动约束被用于自动的位置和取向指示器对准。 In this manner, the body parts to define the position and orientation of the pointer it is attached directly associated (link) constraints are explicit motion for automatic alignment of the position and orientation indicator.
[0009] 如果身体部位是臂并且所述至少一个关节是肘，或者身体部位是腿且所述至少一个关节是膝，则所述方法特别适用于位置和取向指示器对准以监测典型的物理疗法练习。 [0009] If the body part is arm and the at least one joint is an elbow, a leg or body part and the at least one joint is a knee, the method is particularly suitable for the position and the orientation indicator aligned to monitor the typical physical therapy exercises.
[0010] 优选地，使用所述对运动的物理约束，以使得当检测到鉴于物理约束而不可能的身体部位的运动时，判断存在对准差错（faul t)。 [0010] Preferably, the physical constraints of the movement, such that when motion is detected in view of the physical constraints of the body part is not possible, the presence of the alignment error is determined (faul t). 在此情况下，可以快速且可靠地识别未对准以实现自动对准。 In this case, it can be quickly and reliably identified misalignment to achieve automatic alignment.
[0011] 优选地，位置和取向指示器包括局部坐标系统并且被附接到身体部位以使得防止了相对于身体部位围绕局部坐标系统的至少一个轴的旋转。 [0011] Preferably, the position and the orientation indicator comprises a local coordinate system attached to the body part and is prevented from rotating so that the body part with respect to the local coordinate system about at least one axis. 在此情况下，归因于附接方式， 可以使用对位置和取向指示器的运动的物理约束。 In this case, due to the means of attachment may be used and the physical constraints on the movement of the position of the orientation indicator. 这允许更容易且更可靠地相对于身体部位对准位置和取向指示器，而无需校准过程。 This allows for easier and more reliable with respect to the body part and the orientation indicator aligned position without the calibration process. 如果位置和取向指示器附接到身体部位以使得防止了相对于身体部位围绕局部坐标系统的两个轴的旋转，则可以甚至更快地实现对准。 If the position and the orientation indicator attached to the body part so as to prevent relative rotation about the two axes of the local coordinate system to the body part can be aligned even faster.
[0012] 优选地，至少第一位置和取向指示器和第二位置和取向指示器被附接到身体部位，并且第一和第二位置和取向指示器中的一个相对于第一和第二位置和取向指示器中的另一个的移动被测量。 [0012] Preferably, at least a first position and a second position and orientation of the indicator and the orientation indicator is attached to the body part, and a first and second position and orientation of the indicator relative to the first and second moving the other of the position and orientation indicator is measured. 以此方式，例如至少一个关节的移动可以被可靠地用于自动的位置和取向指示器对准。 In this manner, for example, at least a movement of the joint can reliably be used to automatically align the position and orientation indicator. 如果第一位置和取向指示器在至少一个关节的一侧上被附接到身体部位并且第二位置和取向指示器在所述至少一个关节的相对侧上被附接到身体部位，则以特别高效的方式进行自动对准是可能的。 If the first position and the orientation indicator is attached to a body part on at least one side of the joint and the second position and the orientation indicator is attached to the body part on opposite sides of said at least one joint, special places efficient way automatic alignment is possible.
[0013] 所述目的还通过根据权利要求9的用于监测至少一个身体部位的移动的设备来实现。 [0013] The object is also achieved by the at least one mobile apparatus for monitoring a body part according to claim 9. 该设备包括适于附接到身体部位的至少一个位置和取向指示器以及适于测量该位置和取向指示器的移动的控制单元。 The apparatus comprises a body part adapted to be attached to at least one of the position and the orientation indicator and a control unit adapted to measure the position and orientation of the pointer movement. 该控制单元适于在身体部位移动时测量该位置和取向指示器的移动并且使用对运动的物理约束根据测量的移动确定位置和取向指示器相对于身体部位的对准。 The control unit is adapted to measure the position and orientation of the pointer movement in the moving parts of the body and using the physical constraints of the motion determines the position and orientation of the pointer according to the movement of the measured body part with respect to the alignment. 因此，提供了用于监测至少一个身体部位的移动的设备，其不需要单独的校准过程来对准所述至少一个位置和取向指示器。 Accordingly, there is provided a mobile apparatus for monitoring at least one body part, which does not require a separate calibration procedure to position and align the at least one orientation indicator.
[0014] 优选地，所述设备包括至少第一位置和取向指示器和第二位置和取向指示器并且控制单元适于测量第一和第二位置和取向指示器中的一个相对于第一和第二位置和取向指示器中另一个的移动。 [0014] Preferably, said apparatus comprising at least a first position and a second position and orientation of the indicator and the orientation indicator and the control unit adapted to measure position and orientation of the first and second indicators relative to the first one and a second position and orientation of the other indicator moves. 在此情况下，例如至少一个关节的运动可以被可靠地用于自动对准所述位置和取向指示器。 In this case, for example, at least one joint motion may be reliably and for automatically aligning the position of the orientation indicator. 如果第一和第二位置和取向指示器适于在至少一个关节的相对的两侧上附接到身体部位，则情况特别如此。 If the first and second position and orientation indicator adapted on opposite sides of the at least one joint is attached to the body part, the situation is especially true.
[0015] 优选地，所述设备是物理治疗监测设备。 [0015] Preferably, the physical therapy device is a monitoring device.
[0016] 本发明的其他特征和优点将根据参照附图的实施例的详细描述而出现。 [0016] Other features and advantages of the invention will appear from the detailed description of embodiments with reference to the accompanying drawings.
[0017] 图1示意性示出位置和取向指示器与身体部位之间未对准的实例。 [0017] FIG. 1 schematically shows an example of misalignment between the position and the orientation indicator of the body part.
[0018] 图2示意性示出包括提供有位置和取向指示器的若干身体部位的人体和相关联的局部坐标系统。 [0018] FIG. 2 schematically shows parts of a body comprising providing a plurality of position and orientation of the indicator and the local coordinate system associated with the body.
[0019] 图3示意性图示了局部的位置和取向指示器坐标系统的取向。 [0019] FIG 3 schematically illustrates the position and orientation of the orientation indicator of the local coordinate system.
[0020] 图4a到4c示意性图示了局部位置和取向指示器坐标系统与身体部位之间的取向的不同自由度。 [0020] Figures 4a to 4c schematically illustrate different degrees of freedom of alignment between the local coordinate system of the position and orientation of the pointer body part.
[0021] 图5示出用于确定关节的旋转轴的图（plot)的实例。 [0021] FIG. 5 shows an example for determining the FIG (Plot) the axis of rotation of the joint.
[0022] 图6图不了膝关节的运动范围。 [0022] FIG 6 not knee joint range of motion.
[0023] 图7a和7b图示了关于肘和关于人脚的生理运动约束。 [0023] Figures 7a and 7b illustrate a constraint on the elbow and physiological motion about the human foot.
[0025] 现在将参照图2-6描述本发明的一个实施例。 [0025] 2-6 will now be described an embodiment of the present invention with reference to FIG. 在该实施例中，将关于各个位置和取向指示器针对患者的大腿和小腿的对准示范性解释用于相对于身体部位自动对准位置和取向指示器的方法。 In this embodiment, regarding each position and the orientation indicator aligned for exemplary explanation thigh and calf of a patient body part of a method for automatically aligning the position and orientation of the pointer relative. 而且，根据该实施例的用于监测至少一个身体部位的移动的设备由物理治疗监测设备形成。 Moreover, at least one mobile device body part is formed by physical therapy monitoring apparatus for monitoring according to this embodiment. 根据该实施例的设备特别地适于监测患者的腿的移动，特别是适于监测物理治疗患者的髋和膝的练习。 The apparatus of this embodiment is particularly adapted to move the legs of the patient is monitored, in particular for physical therapy to monitor the patient's hip and knee exercises. 然而，应当注意，本发明不限于该类型的应用。 However, it should be noted that the present invention is not limited to this type of application. 例如，其他人体或动物体部位的移动可被监测，比如臂、肘、肩、踝等等。 For example, moving the other parts of the human or animal body may be monitored, such as arms, elbows, shoulders, ankles and the like. 特别地，理疗练习可以被监测和/或指导。 In particular, physical therapy exercises can be monitored and / or guidance. 所述设备包括连接到(通过有线或无线）稍后将描述的位置和取向指示器的控制单元100 (见图2)并且被调适使得下文将描述的步骤由该设备来执行。 The apparatus comprises a control unit connected to the position and orientation of the pointer (through a wired or wireless) 100, which will be described later (see FIG. 2) and is adapted so that the steps will be described below is performed by the device. 在下文描述的实施例中，位置和取向指示器由附接到各个身体部位并将位置和取向信息传输给控制单元100的运动传感器形成。 In the embodiments described below, the position and orientation of a pointer attached to various body parts and the position and orientation information to the control unit 100 forming the motion sensor. 然而，应当注意，本发明不限于此并且例如也可以应用于其他类型的位置和取向指示器。 However, it should be noted that the present invention is not limited thereto and, for example, may be applied to other types of position and orientation indicator. 例如，根据申请人已知的系统，位置和取向指示器也可以由附接到不同身体部位的参考元件形成，其中参考元件的位置和取向借助于适当的照相机来检测。 For example, according to the system known to the applicant, the position and orientation indicator may be connected to different parts of the body is formed by attaching the reference element, wherein the position and orientation of the reference element by means of a suitable camera is detected. 申请人已知的一个这样的系统使用附接到身体部位的反射球（reflective ball),用红外光照射这些反射球，且通过用适当的红外照相机检测反射光来检测这些球的位置/取向。 One such system known to the applicant attached to a body part using reflective spheres (reflective ball), irradiating them with infrared light reflective spheres, balls and detects a position / orientation of the camera with an appropriate infrared detecting reflected light.
[0026] 图2示意性示出包括多个身体部位的人体1。 [0026] FIG. 2 schematically shows a plurality of body parts comprises a body 1. 在下文将要描述的实例中，将解释第一位置和取向指示器2相对于作为第一身体部位3的大腿的对准和第二位置和取向指示器4相对于作为第二身体部位5的小腿的对准。 In the example to be described below, it will be explained a first position and orientation of the pointer 2 with respect to the first body part and the legs 3 are aligned and a second position with respect to the orientation of the pointer 4 as the second leg 5 of the body part alignment. 在将要描述的实例中，用于实现这一点的步骤在示例性描绘的控制单元100中实施。 In the example to be described, to achieve this step of the control unit in the exemplary embodiment depicted in 100. 技术人员将理解，各个位置和取向指示器相对于其他身体部位的对准可以以类似或相似方式执行。 The art will appreciate, various position and orientation of the pointer relative alignment of other body parts or the like can be performed in a similar manner. 第一位置和取向指示器2和第二位置和取向指示器4可以例如借助于包括其中可以放置相应位置和取向指示器的小袋（pouch)的弹性织物带而附接到第一身体部位3和第二身体部位5。 A first position and a second orientation indicator 2 and the position and orientation of the pointer 4 may comprise, for example, by means of which the respective position can be placed and the orientation indicator pouch (Pouch) elastic fabric strip attached to the first body part 3 and The second part of the body 5. 在下文将要描述的实例中，为了测量膝关节的移动，一个位置和取向指示器(第一位置和取向指示器2)被附接在膝"上方"(即附接到大腿)，而另一个位置和取向指示器(第二位置和取向指示器4)被附接在膝"下方"（即附接到小腿)。 In the example to be described below, in order to measure the movement of the knee joint, the position and orientation of a pointer (the first position and the orientation indicator 2) is attached in the knee "above" (i.e., attached to the thigh) while the other the position and orientation of the pointer (the second position and the orientation indicator 4) is attached in the knee, "below" (i.e., attached to the lower leg).
[0027] 在图2所示的实例中，（右手（right-handed))局部直角（orthogonal)坐标系被分配给第一身体部位3(大腿)。 [0027] In the example shown in FIG. 2, (right-hand (right-handed)) partial orthogonal (Orthogonal) coordinate system is assigned to the first body part 3 (thigh). 该局部直角坐标系包括轴1Sc, 1V和mz。 The local orthogonal coordinate system including axes 1Sc, 1V and mz. uS被选择为在脸(以正常的姿势)所面向的方向上指向前。 is selected to face uS (normal posture) directed facing the front direction. Ulx被选择为指向脚，且Uly被选择成使得％，Uly 和1^形成右手直角坐标系。 Ulx is selected to be oriented towards the foot, and is selected such that Uly%, and 1 ^ Uly right-handed rectangular coordinate system is formed. 类似地，局部直角坐标系被分配给第二身体部位5 (小腿)，该局部直角坐标系包括轴5c，Uy和^z。 Similarly, the local rectangular coordinate system is assigned to the second body part 5 (calf), the local orthogonal coordinate system including axes 5c, Uy and ^ z. 被选择为指向前，Ac被选择为指向脚，且Uy被选择成使得形成右手局部直角坐标系。 Is selected for the former point, Ac is selected to be oriented towards the foot, and Uy are selected such that a local rectangular coordinate system formed right.
[0028] 以类似方式，局部坐标系被分配给第一位置和取向指示器2并且分配给第二位置和取向指示器4。 [0028] In a similar manner, the local coordinate system is assigned to the first position and the orientation indicator 2 and allocated to the second position and the orientation indicator 4. 分配给第一位置和取向指示器2的局部坐标系包括轴usx，usy，usz。 Assigned to the first position and the orientation indicator of the local coordinate system 2 comprises a shaft usx, usy, usz. 分配给第二位置和取向指示器4的局部坐标系包括轴lsx，By和lsz。 Allocated to the second position and the orientation indicator of the local coordinate system 4 includes a shaft lsx, By and lsz. 图3中示意性示出向第一和第二位置和取向指示器2和4分配局部坐标系，其中分别地，X对应于usX或lsx，y对应于usy或1sy，且z对应于usZ或1sz。 FIG 3 schematically illustrates a first and second position and the orientation indicator 2 and 4 is assigned a local coordinate system, respectively, wherein, X or LSX corresponding usX, Y or corresponding usy 1SY, and z corresponding to usZ or 1sz . Rx被用于指示围绕轴X的旋转，Ry指示围绕轴y的旋转， 且Rz指示围绕轴z的旋转。 Rx is used to indicate rotation about the X axis, Ry indicating rotation about axis y and Rz indicates rotation about the z axis.
[0029] 在对应于第一位置和取向指示器2相对于第一身体部位3的完美对准的最优情形中， usX的方向对应于'usy的方向对应于、，且usZ的方向对应于'。 [0029] In phase 2 corresponding to the first position and the orientation indicator aligned with respect to the optimal case of perfect first body part 3, usX direction corresponding to 'usy ,, and a direction corresponding to a direction corresponding to usZ '. 类似地，对于第二位置和取向指示器4相对于第二身体部位5的完美对准，Ac的方向对应于a X，uy的方向对应于Uy且\的方向对应于uz。 Similarly, for the second position and the orientation indicator 4 with respect to the second body part 5 is perfectly aligned, Ac corresponding to the direction of a X, uy Uy and a direction corresponding to the \ direction corresponds uz. 图2中示意性地描绘了这种完美的对准情形。 FIG 2 schematically depicts such a perfect alignment case.
[0030] 而且，在图2中，局部坐标系被分配给躯干6,该局部坐标系的轴tZ指向前，轴tX指向头，且Ty被选择成使得形成右手的直角局部坐标系。 [0030] Further, in FIG. 2, the local coordinate system is assigned to the trunk 6, the front shaft tZ the local coordinate system to point, point to the head shaft tX and Ty are selected so that at right angles to form a right-handed local coordinate system. 应当注意，局部坐标系可以以对应的方式分配给其他身体部位。 It should be noted that the local coordinate system can be allocated in a corresponding manner to other body parts. 而且，位置和取向指示器可以附加地或可替代地附接到其他身体部位。 Further, the position and orientation of the indicator may additionally or alternatively attached to other body parts.
[0031] 已经描述了，在完美对准情形中，第一位置和取向指示器2的坐标系（ usx，usy， USz)和第一身体部位3的坐标系（uSc， my，u4)将是相同的，且第二位置和取向指示器4 的坐标系（lsx， lsy，lsz)和第二身体部位5的坐标系（llx，、，11Z)将是相同的。 [0031] It has been described in the case of perfectly aligned, the first position coordinates and the orientation indicator (usx, usy, USz) 2 and a first body part 3 of the coordinate system (uSc, my, u4) will be the same, and the second pointer position and orientation coordinates (lsx, lsy, lsz) body part 4 and a second coordinate system (llx ,,, 11Z) 5 will be the same.
[0032] 然而，在其中位置和取向指示器附接到相应的身体部位(例如通过柔性织物带）的真实情形中，该完美情形通常将是不存在的。 [0032] However, in the real situation in which the position and the orientation indicator attached to the respective body part (e.g., by a flexible fabric tape) in the perfect situation will generally not exist. 第一位置和取向指示器2与第一身体部位3 的坐标系之间的某种未对准将是存在的，即对应的轴的方向将不同。 Will be present for some misalignment between the first position and the orientation indicator body part 2 and the first coordinate system 3, i.e. corresponding to the direction of the shaft will be different. 类似地，第二位置和取向指示器4与第二身体部位5的坐标系之间的某种未对准将是存在的。 Similarly, a second position and orientation of the pointer 4 and the second body part for some misalignment between the coordinate system 5 will be present. 已经在上文关于图1 (关于图1中的两个轴)描述了这种情形。 Have been described above with respect to FIG. 1 (on two axes in FIG. 1) describes such a case. 如果位置和取向指示器与相应身体部位之间的对准是已知的，则该位置和取向指示器的读数可以被相应地校正。 If the alignment between the position and orientation of the pointer with the respective body parts are known, the position and the orientation indicator readings can be corrected accordingly.
[0033] 在下文中，将描述一种用于自动将位置和取向指示器与对应的身体部位对准（即对准位置和取向指示器坐标系和局部身体部位坐标系）的方法。 [0033] Hereinafter, will be described a method for automatically position the body part and the orientation indicator aligned with a corresponding (i.e., the position and the orientation indicator aligned with the coordinate system and the local coordinate system of the body part) method. 将示范性地描述第一位置和取向指示器2相对于大腿(作为第一身体部位)的对准和第二和取向指示器4相对于小腿(作为第二身体部位）的对准。 Will be described in a first exemplary position and orientation of the pointer 2 with respect to the alignment of the thigh and a second orientation indicator aligned (as the first body part) and 4 with respect to the leg (as a second body part) is. 在所给出的实例中，所述对准将基于位于第一和第二位置和取向指示器2、4之间的膝关节的移动来执行。 In the example given, the movement of the knee of Zhunjiang Ji in between the first and second positions 2, 4 and the orientation indicator is performed.
[0034]为了实现位置和取向指示器相对于对应的身体部位的对准，使用物理运动约束。 [0034] In order to achieve the position and the orientation indicator aligned with respect to the corresponding body parts, physical motion constraints. 使用关于相应的位置和取向指示器位于身体部位上的哪里的背景（context)信息。 Using the information on the corresponding position and orientation of the pointer is located on a background where the body part (context). 特别地， 使用（exploit)特定的关节是能够以全部自由度旋转（比如髋关节或肩关节的情况)还是不能够（比如膝关节或肘关节的情况）的信息。 In particular, the use of (exploit) the specific information in the entire joint is capable of rotation degrees of freedom (such as hip or shoulder case) or not can be (such as elbow or knee joint) is. 而且，使用特定关节的运动的可能范围。 Moreover, the use of a particular possible range of joint motion. 换言之，如果位置和取向指示器测量(物理上）不可能的移动，则这必定归因于位置和取向指示器相对于身体部位的对准差错。 In other words, if the position and the orientation indicator measurements (physically) can not move, then this must be due to the position and orientation of the pointer relative to the body portion alignment error. 然后位置和取向指示器与身体部位之间的对准被更新，使得所述移动不再是"不可能的"。 Then the position of alignment between the body part and the orientation indicator is updated so that the movement is no longer "impossible." 下文中将基于膝关节的移动示范性地解释这一点。 Hereinafter knee movement based exemplarily explain this.
[0035] 上文已经描述，第一和第二位置和取向指示器2、4可以例如借助于包括用于容纳对应的位置和取向指示器的袋的柔性弹性带分别附接到第一身体部位3和第二身体部位5。 [0035] As already described, the first and second position and orientation indicator 4 may comprise for example by means of a pocket for receiving a corresponding position and orientation indicator of a flexible elastic strip attached to the first body part, respectively, 3 and second parts of the body 5. 在此情况下，由于特定的附接，位置和取向指示器与对应的身体部位之间的对准的至少一个旋转自由度可以被固定。 In this case, due to the particular attachment, at least one rotational degree of freedom between the aligned position and orientation indicator corresponding to the body part may be fixed. 这将参照图4a至4c针对第一位置和取向指示器2到大腿的附接和第二位置和取向指示器4到小腿的附接来更详细地描述。 This will be with reference to FIGS. 4a to 4c for the first position and the orientation indicator 2 attachment to the thigh and a second position and orientation indicator attached to the calf contact 4 will be described in more detail. 在图4a至4c中示出的实例中，第一位置和取向指示器2借助于带7附接到第一身体部位3,且第二位置和取向指示器4借助于带9附接到第二身体部位5。 Figures 4a to 4c in the example shown, the first position and the orientation indicator 2 by means of the belt 7 is attached to the first body part 3, and the second position and the orientation indicator 4 by means of a belt 9 is attached to the first two parts of the body 5. 第一和第二位置和取向指示器2、4的带7、9的形状被选择成使得防止了位置和取向指示器2、4的围绕局部Z-轴(例如usZ-轴或isZ-轴）的旋转。 Position and shape of the first and second tape 7,9 2,4 orientation indicator is selected so that the position and the orientation indicator prevents localized around the Z- axis (e.g. usZ- isZ- axis or axes) of 2,4 rotation.
[0036] 图4a示意性示出，在所述带和位置和取向指示器的适当设计的情况下，防止了各个位置和取向指示器围绕局部Z-轴的旋转。 [0036] Figure 4a shows schematically, in a case where the belt and the proper design of the position and orientation indicator, prevented from rotating about the respective position of the orientation indicator and local Z- axis. 然而，图4b和4c示意性示出，位置和取向指示器2、4相对于它们的局部y-轴（图4b)和相对于它们的局部X-轴（图4c)的取向未被固定。 However, FIG. 4b and 4c schematically shown, the position and orientation of the pointer relative to their local 2,4 y- axis (FIG. 4b) and with respect to their local X- axis (FIG. 4c) of the alignment is not fixed. 换言之，由于附接方式限制了位置和取向指示器相对于其局部Z-轴的旋转，这个对准参数可以被取为零或某个其他常数。 In other words, since the attachment position and the way limiting rotational orientation indicator relative to its local Z- axis, the alignment parameters that can be taken to be zero or some other constant. 关于相应的位置和取向指示器的局部X-轴，在身体部位是(小或大）腿的情况下，围绕X-轴的旋转未被限制（即无论位置和取向指示器被佩戴在腿的"前面"上还是佩戴在腿的"侦愐"上)。 X- axis on respective local position and orientation of the pointer, in the case where the body part (small or large) leg, rotation about the X- axis is not restricted (i.e., regardless of the position and the orientation indicator is worn leg on the "front" or worn on the legs, "Detective shy"). 类似地，关于位置和取向指示器的局部y_轴， 该局部y-轴未被固定，因为不能预先确定患者的腿是怎样的圆锥形。 Similarly, the local y_ axis indicator on the position and orientation, the local y- axis is not fixed, since the patient's leg can not be determined in advance how conical. 由于相应的位置和取向指示器相对于对应的身体部位的这个可能的未对准，必须估计和/或跟踪两个对准参数(局部位置和取向指示器坐标系统相对于对应的身体部位的局部坐标系统的X-轴的位置和y-轴的位置)。 Since the corresponding position and orientation of the pointer with respect to the possible misalignment of the corresponding body part, must be estimated and / or tracking alignment of two parameters (position and orientation of the local coordinate system of the pointer relative to the body portion corresponding to the local position of the X- axis and y- axis of the coordinate system).
[0037] 现在，将解释其他的物理运动约束如何用于将相应的位置和取向指示器的局部坐标系统与相应的身体部位的局部坐标系统对准。 [0037] will now be explained how the other physical motion constraints for aligning the respective local coordinate system and the position of the orientation indicator of the corresponding body part of the local coordinate system. 关于这些实施例，将关于膝关节的运动来解释。 Examples of these embodiments, will be explained about the motion of the knee joint.
[0038] 如果佩戴着附接到作为第一身体部位3的大腿的第一位置和取向指示器2和附接到作为第二身体部位5的小腿的第二位置和取向指示器4的患者移动膝关节，则有可能根据这两个位置和取向指示器的读数计算第二位置和取向指示器4 (小腿位置和取向指示器） 相对于第一位置和取向指示器2 (大腿位置和取向指示器）旋转所围绕的旋转轴。 [0038] If the wearer is attached to the thigh as the first body part 3 and the orientation indicator of the position of a first 2 and a second attached to the mobile as part of a patient's leg 5 and a second position of the orientation indicator 4 knee, it is possible to calculate the position and orientation of a second indicator 4 (leg position and orientation indicator) according to both the position and orientation of the pointer relative to the first reading of the position and orientation of the pointer 2 (indicating the position and orientation of the thigh the rotation shaft is) around which rotation. 该旋转轴将等同于膝关节。 The rotating shaft is equivalent to the knee joint. 该旋转轴可以例如在第二位置和取向指示器4的局部坐标系统中表达(应当注意，该旋转轴当然也可以在第一位置和取向指示器2的局部坐标系统中表达)。 The rotation shaft may be expressed, for example (it should be noted that the rotation shaft of course also be expressed in the first position and the orientation indicator of the local coordinate system 2) in the second position and the orientation indicator of the local coordinate system 4. 现在，旋转仅可以由膝关节引起的知识和关于膝关节的生理约束的知识可以被用作用于将局部位置和取向指示器坐标系统与局部身体部位坐标系统对准的物理约束。 Now, the knowledge can only be caused by the rotation of the knee joint and the knee joint constraint physiological knowledge may be used as the physical constraints of the local coordinate system of the position and orientation of the pointer to the local coordinate system aligned with the body part. 由于膝关苄基本上仅具有一个自由度（即只有环绕图2中的Uly/lly轴的旋转是可能的)，第二位置和取向指示器4的局部坐标系的对准可以通过找到第二位置和取向指示器4的旋转来找到以使得在第二位置和取向指示器4的局部坐标系中表达的膝的旋转同样是沿着校正的By轴的(见图2)。 Since the knee-benzyl having substantially only one degree of freedom (i.e., rotation in only surround FIG 2 Uly / lly axis is possible), a second local coordinate system aligned with the position and orientation of the pointer 4 may be found by a second position and orientation of the pointer 4 rotates such that rotation of the knee to find the expression of the position and orientation of the pointer in the second local coordinate system 4 is also along the shaft by correction (see FIG. 2). 这意味着局部位置和取向指示器坐标系的取向必须变成在数学上与局部的身体部位坐标系对准。 This means that the local position and orientation of the orientation indicator of the coordinate system must become part of the body is aligned with the local coordinate system in mathematics.
[0039] 而且，存在附加的物理约束，这个附加的物理约束是附接方式(例如通过柔性织物带)防止了第二位置和取向指示器围绕其局部lSz-轴旋转，如上文已经描述。 [0039] Moreover, the presence of additional physical constraints, additional physical constraint is the attachment means (e.g. by a flexible fabric tape) is prevented and a second position rotated about its local orientation indicator lSz- axis, as already described above. 该另外的物理约束也用于对准。 The further physical constraints also used for alignment. 由于这个另外的约束，为了找到第二位置和取向指示器的对准旋转，第二位置和取向指示器应当仅仅围绕其isX-轴和其By-轴旋转，以便将膝关节旋转轴与校正的liV-轴对准。 Due to this additional constraint, to find the alignment and orientation of the rotational position of the second indicator, the second position and the orientation indicator should only isX- about its axis and the axis of rotation thereof By- to the knee joint and the rotational axis of correction liV- axis alignment.
[0040] 可以以类似方式将第一位置和取向指示器2的局部坐标系与第一身体部位3的局部坐标系对准。 [0040] may be aligned in a similar manner as the first position and the orientation indicator of the local coordinate system 2 of the first body part 3 of the local coordinate system.
[0041] 总结上文已经描述的原理：原则上，第二位置和取向指示器4与第二身体部位3之间的对准具有三个自由度（3个未知数)。 [0041] The above summary of principles have been described: In principle, the second position and the orientation indicator aligned between 4 and 3 having three degrees of freedom of the second body part (3 unknowns). 这同样适用于第一位置和取向指示器2与第一身体部位3之间的对准。 The same applies to the alignment between the first position and the orientation indicator 3 2 and the first body part. 归因于膝关节具有的物理约束(仅有一个自由度，因此有1个未知数)，产生具有3个未知数的两个方程。 Due to the physical constraints of the knee joint (only one degree of freedom, so there is an unknown), to generate two equations with three unknowns. 然而，由于存在附接方式限制对准的一个自由度（即分别围绕usZ-轴或isZ-轴的旋转）的所述另外的物理约束，产生具有两个未知数的两个方程。 However, since there is a way to limit the degree of freedom of attachment of the alignment (i.e., rotation about a respective axis or isZ- usZ- axis) of the additional physical constraints, generate two equations with two unknowns. 这种情形对于第一位置和取向指示器2和第二位置和取向指示器4二者而言是唯一可解的。 This situation is the only solution for the position and orientation of both the first and second position indicator 2 and the orientation indicator 4.
[0042] 在下文中，将描述如何从数学观点实现上面用文字描述的位置和取向指示器对准。 [0042] Hereinafter, will be described how the position and the orientation indicator aligned in the above described words from a mathematical viewpoint. 将再次针对第一和第二位置和取向指示器2、4分别在膝关节的不同侧上附接到大腿和小腿的情形示范性地给出所述数学描述。 It will again be given the mathematical description for the exemplary case where the first and second position and orientation indicator on different sides 2,4 are attached to the knee joint of the thigh and calf.
[0043] 在下面的描述中，（各个局部坐标系统的轴的）所有取向将被表达为四元数(quaternion)。 [0043] In the following description, (the axis of each local coordinate system) will be expressed as all orientation quaternion (quaternion). 然而，该算法也可以使用3维取向的另一个表示来表达，比如欧拉角或旋转矩阵，尽管需要多一点工作。 However, another algorithm may be used to represent three-dimensional orientation of expression, such as Euler angles or rotation matrix, although little work required.
[0044] 首先，将描述在当前实例中如何可以找到膝关节的旋转轴。 [0044] First, description will be found how the rotation shaft of the knee in the present example.
[0045] 在世界固定的参考坐标系(全局坐标系)中表达的第一位置和取向指示器2的取向由四元数wQus给出，且在世界固定的参考坐标系中表达的第二位置和取向指示器4的取向由四元数wQu给出，其中四元数aQb表达从坐标系B到坐标系A的旋转(或坐标变换)。 [0045] The orientation of the first position and the orientation indicator of the expression in the world fixed reference coordinate system (global coordinate system) is given by 2 quaternion wQus, and is expressed in the world coordinate system fixed with reference to a second position and the orientation of the orientation indicator wQu 4 is given by the quaternion, where the expression aQb quaternion coordinate system is rotated from the coordinates a to B (or coordinate transformation).
[0046] 然后，第一位置和取向指示器2和第二位置和取向指示器4之间的取向差（ isQu) 由下式给出： [0046] Then, a first position and orientation between the orientation indicator and the second indicator position and orientation difference 4 (isQu) is given by:
[0048] 其中®表示四元数乘积，且Q#表示四元数共轭。 [0048] wherein ® represents quaternion multiplication, and Q # denotes the quaternion conjugation.
[0049] 在第一和第二位置和取向指示器相对于彼此移动(在本实例中其为膝关节的运 [0049] In the first and second position and orientation of the pointer relative to each other (which is a knee operation in the present example
表示的第一位置和取向指示器2与第二位置和取向指示器4之间的取向的平均差。 A first position and orientation of the pointer 2 is represented by the average difference between the 4 second alignment position and orientation of the pointer.
向指示器取向之间的取向的当前差与另一方面第一位置和取向指示器取向与第二位置和取向指示器取向之间的取向的平均差之间的瞬时差。 The average difference between the instantaneous difference between the current orientation of the orientation difference between the first indicator hand position and orientation and the orientation of the orientation indicator and a second position alignment orientation indicator. 并且显然，该瞬时值与平均值之间的差是由膝关节的移动引起的。 And obviously, the difference between the instantaneous value and the moving average is caused knee.
到主旋转轴（即，图5中的虚线)。 The main axis of rotation (i.e., the dashed line in FIG. 5). 应当注意，可以使用标准主分量分析的略作修改的版本， 因为已知根据定义旋转轴穿过（cross)取向空间的原点。 It should be noted, may be used as the standard principal component analysis slightly modified version, it is known that passing through the origin (Cross) orientation of the rotary shaft space definition. 结果是膝的旋转轴。 The result is the rotation shaft of the knee. 旋转轴被表达为在固定到第二位置和取向指示器4的坐标系统中表达的向量。 The rotating shaft is expressed as a vector for expression in a fixed position and orientation of the pointer to the second coordinate system 4. 在图5的实例中，旋转轴将是（X，y,z)= (2，5，3)。 In the example of FIG. 5, a rotating shaft (X, y, z) = (2,5,3).
[0056] 也可能在第一位置和取向指示器2的坐标系统(或对于该情况，为世界固定的参考系）中表达膝的旋转轴。 [0056] Also the position and the orientation indicator may be a first coordinate system 2 (or for this case, the fixed world reference frame) in the expression of the rotation shaft of the knee.
[0057]应当注意，该方法不仅用于找到膝的旋转轴，显然它可以用于找到身体的任何部位的旋转轴。 [0057] It should be noted that the method used to find the axis of rotation of the knee, it is clear that the axis of rotation can be used to find any part of the body. 例如，相同的算法可以用于找到髋的旋转轴，以了解患者的大腿相对于患者的躯干在哪个方向上摇摆。 For example, the same algorithm can be used to find the rotation shaft of the hip, in order to understand the patient's thigh with respect to the torso of the patient on which the swing direction. 当然，它也可以用于其它身体部位(适当地提供有位置和取向指示器)。 Of course, it can also be used for other body parts (suitably provided with a position and orientation indicator).
[0058] 因此，已经获得了向量(例如在第二位置和取向指示器的局部坐标系统中表达的向量；然而，应当注意，该向量也可以在另一个坐标系统（比如第一位置和取向指示器的坐标系统）中表达或在全局坐标系统中表达)。 [0058] Thus, the vector has been obtained (e.g. the expression vector in the local coordinate system of the second position and the orientation indicator; however, it should be noted that the vector may be (such as a first alignment position and another coordinate system indicated in or under-expressed in the global coordinate system)) in the coordinate system of the device. 在下文中，将描述可以如何计算例如第二位置和取向指示器4的位置和取向指示器对准。 Hereinafter will be described how to calculate the position and the orientation indicator, for example, a second position and orientation of the pointer 4 are aligned.
[0059] 因此，第二位置和取向指示器4的对准四元数将在以下假设下计算：第二位置和取向指示器4不能围绕其局部Z-轴旋转(见上面针对图4a_4c的解释)。 [0059] Thus, the position and the orientation indicator aligned with the second quaternion 4 calculated in the following assumption: the second position and the orientation indicator 4 can not be rotated (as explained above with respect to FIG 4a_4c about its local Z- axis ). 这意味着，如果旋转mQalignus被应用于表示旋转轴（具有长度I)的向量v，则获得在y方向的向量(具有长度1)，因为第一身体部位3和第二身体部位5的坐标系统被选择成使得膝关节的旋转轴在y方向上。 This means that if the rotation is applied mQalignus indicates a rotary shaft (having a length I) of the vector v, is obtained vector in the y direction (having a length of 1), because the first body part coordinate system 3 and the second body part 5 is chosen such that the knee joint axis of rotation in the y direction. 因此，产生下面的方程： Therefore, a following equation:
[0061] 由于防止了位置和取向指示器围绕局部Z-轴的旋转，uiQalignlJ^ z分量等于零且由下式给出： [0061] By preventing rotational position orientation indicator about the local and Z- axis, uiQalignlJ ^ z component equal to zero and is given by the following formula:
[0063]将方程（4)代入到方程（3)中并且按照各个分量v、vx、丨和V z求解qdP qy得到下面的方程： [0063] The equation (4) into equation (3) and in accordance with the respective components v, vx, and V z Shu qdP qy obtained solving the following equation:
[0065]应当注意，方程（5)表明，在\等于零的情况下，方程（3)无解。 [0065] It should be noted that equation (5) shows that, in the \ case equal to zero, equation (3) has no solution. 这将是这样的情形：其中位置和取向指示器和对应的身体部位未被完美地对准，但是将位置和取向指示器坐标系统旋转到肢坐标系统的唯一方式将是围绕位置和取向指示器坐标系统的单个旋转。 This will be the case: in which the position and orientation of the indicator and the corresponding parts of the body are not perfectly aligned, but the only way the position and orientation of the pointer coordinate system to rotate the coordinate system of the limb will be around the position and orientation indicator a single rotation of the coordinate system. 这被认为是不可能的，这是由于固定的方式(例如通过织物带)，所以该情形不会发生。 This is considered impossible, due to the fixed manner (e.g. by fabric strip), so that the situation does not occur. 应当进一步注意，方程（5)给出了mQalignlJ^两个解。 It should further be noted that equation (5) gives two solutions mQalignlJ ^. 这两个解相差180度并且导致不能确定位置和取向指示器是否被"倒置地"安装在身体部位上。 Both solutions result in a difference of 180 degrees and can not determine whether the position and the orientation indicator is "upside down" mounted on the body part.
[0066] 至此所描述的自动对准方法没有给出环绕1V (或轴的任何对准，因为这是膝旋转所环绕的轴。为了获得适当的位置和取向指示器环绕1V (或轴的对准，可以使用膝的运动范围：该膝不能伸展得比180度更多并且也不能弯曲超过例如20度，如图6所指/Jn〇 [0066] The self-alignment method described so far does not give any alignment surround 1V (or shaft, because the shaft which is surrounded by the knee rotation. In order to obtain the proper position and orientation indicator surround 1V (or axis of accurate, range of motion of the knee may be used: the knee can not be extended more than 180 degrees and can not be bent more than 20 degrees, for example, referring to FIG. 6 / Jn〇
[0067]因此，如果位置和取向指示器输出表明膝关节正在进行超过该范围的移动，则清楚的是，位置和取向指示器环绕1V (或40轴的对准是不当的并且需要调适。根据该实施例，第一位置和取向指示器和第二位置和取向指示器二者的对准以这样的方式调适：使得不再违犯运动的最大范围。 [0067] Thus, if the position and orientation of the pointer indicates that the output being moved beyond the range of the knee joint, it is clear that the position and the orientation indicator aligned surround 1V (or shaft 40 is inappropriate and requires adjustment. The this embodiment, a first position and a second position aligned with the orientation indicator and both the orientation indicator and is adapted in such a manner: that the maximum range of movement is no longer violated.
[0068]第一实施例的修改 [0068] The modification of the first embodiment
[0069]根据优选的修改，第一和第二位置和取向指示器2、4被安装在第一和第二身体部位3、5上，使得这些位置和取向指示器的usZ (或1sz)轴基本上与Uly (或、）轴在相同方向上。 [0069] According to a preferred modification, the first and second position and orientation of the pointer 2, 4 are mounted on the first and second body parts 3,5, so that these positions and the orientation indicator USZ (or 1sz) axis substantially Uly (or) axis in the same direction. 这意味着这些位置和取向指示器在给定的实施例中安装在腿的"侧面"上(所以不在如图2中所示的前面)。 This means that the position and orientation of the indicator is mounted in a given embodiment of the upper leg of the "side" (it is not shown earlier in FIG. 2). 该安装不需要非常精确。 The installation does not require very precise.
[0070]根据该布置，位置和取向指示器2、4与身体部位3、5之间的完全对准可被确定，因为现在相应位置和取向指示器的usZ (或isZ)轴(假设由于例如通过织物带的固定方式位置和取向指示器不能环绕该轴旋转）与第一或第二身体部位的1V (或轴(环绕该轴，先前部分的自动对准方法没有给出信息)粗略地在相同的方向上。因此，尽管膝的运动没有给出环绕(或轴的对准信息，但是我们可以假设对准的这个自由度为0,因为固定方式防止了相应的位置和取向指示器相对于身体部位环绕该轴旋转。因此，然后第一/第二身体部位3、5与相应的位置和取向指示器2、4之间的完全对准四元数通过方程（5)给出。 [0070] According to this arrangement, full alignment between 3,5 and 2,4 positions and the orientation indicator body part can be determined, because the corresponding position and orientation indicator USZ (or ISZ) axis (Suppose e.g. 1V fixed manner by the position and the orientation indicator of the fabric strip around the axis of rotation can not be) the first or second body part (or the axis (around the shaft portion of the previous self-aligned method does not give information) roughly in the same direction. Thus, although not given motion around the knee (or shaft alignment information, but we can assume that this alignment is 0 degrees of freedom, since the fixing means preventing the corresponding position and orientation of the pointer relative body parts around the axis of rotation. Thus, the first and / or second fully aligned with the body part 3, 5 quaternion position corresponding to between 2,4 and orientation indicator is given by the equation (5).
[0071]根据上面所提供的实例，首先，关节的旋转轴根据第一位置以及取向指示器和第二位置和取向指示器的位置和取向指示器读数确定，其后，使用归因于关节的生理机能的对运动的物理约束和归因于位置和取向指示器与该身体部位的附接方式的对位置和取向指示器的运动的物理约束这二者来确定位置和取向指示器相对于其所附接到的身体部位的对准。 [0071] The examples provided above, first, the rotational shaft joint according to a first and second position and the orientation indicator of the position and the orientation indicator to determine the position and orientation indicator readings, thereafter, due to the joint use of both the physical constraints of the physical constraints of the motion, and due to physiology and the position and the orientation indicator of the position and the orientation indicator of the attachment means of the movement of the body part to determine the position and orientation of the pointer relative to its attached to the parts of the body alignment.
[0072] 而且，尽管已经关于膝关节的运动和附接到大腿和小腿的位置和取向指示器解释了该实施例，但是本发明不限于此。 [0072] Moreover, despite the movement of the knee joint about the thigh and calf and attached to the position and orientation indicator of this embodiment is explained, but the present invention is not limited thereto. 可以使用附接到不同的身体部位的至少一个位置和取向指示器的运动。 You may use at least one position and orientation of the motion indicator attached to different parts of the body. 而且，其运动被使用的关节不限于膝关节并且也可以由不同的关节形成。 Furthermore, the joint movement is used which is not limited to the knee joint and may also be formed of different joints. 尽管已经描述了位置和取向指示器借助于柔性弹性带到身体部位的附接，但是附接方式不限于此并且其他附接方式（比如借助于适当的粘合剂等）也是可能的。 While there has been described the position and orientation indicator to the body part by means of a flexible elastic attachment, but the attachment is not limited thereto and that other means of attachment (for example by means of a suitable adhesive, etc.) are also possible.
[0073] 应当注意，根据一个修改，可以固定位置和取向指示器相对于身体部位的多于一个的自由度。 [0073] It should be noted that according to a modification, may be fixed with respect to the position and the orientation indicator of the degree of freedom of more than one body part. 例如，位置和取向指示器可以放置在将被穿在脚上的一种短袜中，使得类似于上文给出的实例，限制了位置和取向指示器环绕其局部Z-轴的对准。 For example, the position and orientation of the indicator may be placed in one worn on the foot of the sock, so that similar examples given above, limits the position and orientation of the indicator around its axis aligned with the local Z-. 而且，由于短袜具有后跟，它不能"向后"或"倒置"地穿，使得它也限制了位置和取向指示器环绕其局部X-轴的对准。 Further, since the sock having a heel, it can not "rearward" or "upside down" to wear, so that it also limits the location and orientation of the indicator around its axis aligned with the local X-. 这种限制使得能够更容易地确定位置和取向指示器相对于身体部位的对准。 This limitation makes it easier to determine the position and the orientation indicator aligned with respect to the body part. 限制两个自由度的相似的布置也可以针对用于覆盖肘或膝附接结构(例如特别成形的织物带）来实现。 Two degrees of freedom limits similar arrangement may be implemented for a knee or elbow for covering the attachment structure (e.g. fabric strip specially shaped).
[0074] 尽管已经描述了典型地针对膝关节或肘关节的运动范围和运动方向的特定限制， 但是本发明不限于这种对运动的特定约束。 [0074] While there have been described particular limitation for the typically range of motion and direction of motion of the knee or elbow, but the present invention is not limited to this particular constraint on movement. 图7a和7b中示出了可以使用的对运动的约束的其他实例。 Figures 7a and 7b show other examples of motion constraints may be used. 图7a图示了，当人的臂向前伸展且手掌向上时，不可能向内或向外旋转肘，因为肘没有这个自由度。 Figure 7a illustrates, when the arm extending forwardly and human palm up, possible inward or outward rotation of the elbow, the elbow because without this freedom. 这个生理约束也可以用于自动的位置和取向指示器对准。 This constraint can also be used to automatically physiological position and orientation indicator aligned. 图7b图示了，不可能向后旋转脚，这是一种也可被使用的对运动的约束。 Figure 7b illustrates, the foot can not rotated backward, which is a constraint on the motion may be used. 应当注意，所有关节都包括生理运动约束。 It should be noted that all joints including physical movement constraints. 这些可以被用于位置和取向指示器对准。 These can be used to align the position and orientation indicator.
[0075] 尽管已经关于该实施例描述了：关节的自由度和运动范围被用于位置和取向指示器相对于身体部位的对准，但是本发明不限于此并且其他措施可以用于确定一种运动是否是"不可能的"（并且因此仅归因于位置和取向指示器(一个或多个）和对应的身体部位(一个或多个）的未对准得以测量)。 [0075] Although this embodiment has been described with regard to: the degree of freedom joint range of motion and is used for the position and the orientation indicator aligned with respect to the body part, but the present invention is not limited thereto and that other measures may be used to identify a if the motion is "impossible" (and thus the misalignment is only due to the position and orientation of the indicator (s) and a corresponding body part (s) to be measured). 例如，也可以使用下面的对运动的约束： For example, the following constraints may be used in sports:
[0076] _两个身体部位不可能采取相同的体积位置，可以使用这一点。 [0076] _ two body parts can not take the same volume position, it may be used. 例如，不可能移动臂"穿过"另一只臂或穿过胸。 For example, the arms can not move "through" the pass through another arm or chest. 这要求那些其他身体部位被模拟并装配有位置和取向指示器。 This requires that the other parts of the body are simulated and fitted with a position and orientation indicator.
[0077] -身体部位不可能穿过其他对象（比如桌子或地面)，可以使用这一点。 [0077] - parts of the body can not pass through other objects (such as a table or floor), you can use it. 这要求还在计算机的虚拟世界中模拟那些其他对象。 It also requires a computer simulation of a virtual world that other objects.
[0078] _身体部位可以移动的速度是有限的，可以使用这一点。 [0078] _ body part can move to a limited speed, it may be used.
[0079] -身体部位可以移动的加速度是有限的，可以使用这一点。 [0079] - parts of the body can be moved acceleration is limited, you can use it.
[0080] 尽管已经描述了，测量了附接到身体部位的第一位置和取向指示器相对于附接到身体部位的第二位置和取向指示器的运动，但是也可以测量附接到身体部位的位置和取向指示器相对应世界固定的位置的移动。 [0080] While there has been described, the measured body part attached to a first position and a second orientation indicator relative to the position and orientation of the pointer movement is attached to the body part, but can also be attached to the body part measured the position and orientation of the pointer movement corresponding fixed position in the world.
1. 用于相对于身体部位自动对准位置和取向指示器的方法，该方法包括步骤： -将位置和取向指示器（2, 4)附接到身体部位； -移动该身体部位并测量位置和取向指示器的移动；以及-使用对运动的物理约束来自动确定位置和取向指示器相对于身体部位的对准， 其中使用所述对运动的物理约束，以使得当检测到鉴于物理约束而不可能的身体部位的运动时，判断存在对准差错。 1. A self-aligned with respect to the body part location and orientation of the indicator, the method comprising the steps of: - the position and the orientation indicator (2, 4) attached to the body part; - the movement of the body part and the measurement position and the orientation indicator of the movement; and - the use of physical constraints to automatically determine the movement and the orientation indicator aligned position relative to the body part, wherein the physical constraints of the movement, so that when it is detected in view of the physical constraints when the movement of body parts is not possible to determine the presence of the alignment error.
2. 根据权利要求1的方法，其中所述身体部位包括至少一个关节并且所述至少一个关节的生理运动约束被用作对运动的物理约束。 2. The method according to claim 1, wherein said body part comprises at least one joint and the at least one physiological motion of the joint constraint is used as a physical constraint on movement.
3. 根据权利要求2的方法，其中所述身体部位是臂并且所述至少一个关节是肘，或者其中所述身体部位是腿且所述至少一个关节是膝。 3. The method according to claim 2, wherein said body part is arm and the at least one joint is an elbow, or wherein the body part and the legs of said at least one joint is a knee.
4. 根据权利要求1至3中任一项的方法，其中位置和取向指示器（2,4)包括局部坐标系统并且被附接到身体部位以使得防止了相对于身体部位围绕局部坐标系统的至少一个轴的旋转。 4. The method according to any one of claims 1 to 3, wherein the position and the orientation indicator (2,4) comprises a local coordinate system and is attached to the body part so as to prevent the body part with respect to the local coordinate system about the rotating at least one axis.
5. 根据权利要求4的方法，其中位置和取向指示器（2,4)附接到身体部位以使得防止了相对于身体部位围绕局部坐标系统的两个轴的旋转。 The method according to claim 4, wherein the position and the orientation indicator (2,4) attached to the body part so as to prevent rotation relative to the body portion about the two axes of the local coordinate system.
6. 根据权利要求1至3中任一项的方法，其中至少第一位置和取向指示器（2)和第二位置和取向指示器（4)被附接到身体部位，并且第一和第二位置和取向指示器中的一个相对于第一和第二位置和取向指示器中的另一个的移动得以测量。 6. Method according to any one of claims to 3, wherein the at least a first position and the orientation indicator (2) and a second position and orientation indicator (4) is attached to the body part, and the first and second two position and the orientation indicator is a measure of the movement of the other of the first and second position and orientation with respect to the indicator.
7. 根据权利要求6的方法，其中第一位置和取向指示器（2)在至少一个关节的一侧上被附接到身体部位并且第二位置和取向指示器（4)在所述至少一个关节的相对侧上被附接到身体部位。 7. The method as claimed in claim 6, wherein the first position and the orientation indicator (2) is attached to a body part on at least one side of the joint and the second position and the orientation indicator (4) at least one It is attached to the body portion on opposite sides of the joint.
8. 用于监测至少一个身体部位的移动的设备，该设备包括： 适于附接到身体部位的至少一个位置和取向指示器（2, 4);和适于测量该位置和取向指示器（2, 4)的移动的控制单元（100)， 其中该控制单元适于： 在身体部位移动时测量该位置和取向指示器的移动；并且使用对运动的物理约束来根据所测量的移动自动确定位置和取向指示器相对于身体部位的对准， 其中使用所述对运动的物理约束，以使得当检测到鉴于物理约束而不可能的身体部位的运动时，判断存在对准差错。 8. A method for monitoring at least one mobile device body part, the apparatus comprising: a body part adapted to be attached to at least one of the position and orientation indicator (2, 4); and adapted to measure the position and the orientation indicator ( 2, 4) the movement of the control unit (100), wherein the control unit is adapted to: measure the position and orientation of the pointer movement in the moving body part; and using the measured moving automatically determined according to physical constraints of the motion the position and the orientation indicator aligned with respect to the body part, wherein when using the physical constraints of the movement, such that when motion is detected in view of the physical constraints of the body part is not possible, the presence of the alignment error is determined.
9. 根据权利要求8的设备，其中该设备包括至少第一位置和取向指示器（2)和第二位置和取向指示器（4)并且控制单元（100)适于测量第一和第二位置和取向指示器中的一个相对于第一和第二位置和取向指示器中的另一个的移动。 9. The apparatus of claim 8, wherein the apparatus comprises at least a first position and an orientation indicator (2) and a second position and orientation indicator (4) and the control unit (100) adapted to measure a first and second position and an orientation indicator of the relative movement of the other of the first and second position and orientation of the pointer.
10. 根据权利要求9的设备，其中第一和第二位置和取向指示器（2, 4)适于在至少一个关节的相对的侧上附接到身体部位。 10. The apparatus of claim 9, wherein the first and second position and orientation indicator (2, 4) is adapted on at least one of the opposite sides of the joint body parts attached.
11. 根据权利要求8至10中任一项的设备，其中该设备是物理疗法监测设备。 11. The apparatus of any one of claims 8 to 10, wherein the physical therapy device is a monitoring device.
12. 根据权利要求8至10中任一项的设备，其中所述位置和取向指示器由运动传感器形成。 12. The apparatus of any one of claims 8 to 10, wherein the position and the orientation indicator is formed by the motion sensor.
CN 201080004680 2009-01-16 2010-01-12 For automatically aligning the position and the orientation indicator, and a method for monitoring the movement of the body part of the device CN102281856B (en)
EP09150742 2009-01-16
EP09150742.6 2009-01-16
PCT/IB2010/050111 WO2010082156A1 (en) 2009-01-16 2010-01-12 Method for automatic alignment of a position and orientation indicator and device for monitoring the movements of a body part
CN102281856A true CN102281856A (en) 2011-12-14
CN102281856B true CN102281856B (en) 2015-07-29
ID=42066977
CN 201080004680 CN102281856B (en) 2009-01-16 2010-01-12 For automatically aligning the position and the orientation indicator, and a method for monitoring the movement of the body part of the device
US (1) US20110313327A1 (en)
EP (1) EP2387384B1 (en)
CN (1) CN102281856B (en)
WO (1) WO2010082156A1 (en)
CA2255094A1 (en) * 1998-12-02 2000-06-02 Kevin Arthur Ball Method and system fo facilitate motion analysis
WO2010082156A1 (en) 2010-07-22 application
EP2387384B1 (en) 2016-05-04 grant
US20110313327A1 (en) 2011-12-22 application
EP2387384A1 (en) 2011-11-23 application
CN102281856A (en) 2011-12-14 application
Simon et al. 2006 The Heidelberg foot measurement method: development, description and assessment
Moseley et al. 1996 Three-dimensional kinematics of the rearfoot during the stance phase of walking in normal young adult males
Charalambous 2014 Measurement of lower extremity kinematics during level walking