CN102908772A - Upper limb rehabilitation training system by using augmented reality technology - Google Patents
Upper limb rehabilitation training system by using augmented reality technology Download PDFInfo
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- CN102908772A CN102908772A CN2012103914922A CN201210391492A CN102908772A CN 102908772 A CN102908772 A CN 102908772A CN 2012103914922 A CN2012103914922 A CN 2012103914922A CN 201210391492 A CN201210391492 A CN 201210391492A CN 102908772 A CN102908772 A CN 102908772A
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Abstract
Provided is an upper-limb rehabilitation training system by using augmented reality technology. A patient holds a training device with labels by hands to perform a rehabilitation training of an upper-limb movement function in a way of augmented reality game. The upper-limb rehabilitation training system by using the augmented reality technology comprises a video acquisition module, an augmented reality registering tracking module, a rehabilitation game algorithm module, a three-dimensional model module, a live-action fusion module, a user data module and a therapist module. The video acquisition module acquires live-action videos of rehabilitation training of the patient in real time, and the augmented reality registering tracking module identifies the labels and calculates parameters of the live-action videos. The rehabilitation game algorithm module provides augmented reality rehabilitation training games. The user data module saves recorded training data of the patient. The three-dimensional model module stores a three-dimensional model of a virtual object. The live-action fusion module fuses the virtual object with a reality scene to generate augmented reality rehabilitation game video information. By the aid of the upper-limb rehabilitation training system, enjoyment of the rehabilitation training of the upper-limb movement function is increased. The upper-limb rehabilitation training system is low in cost and easy to use.
Description
Technical field:
The present invention relates to the augmented reality field, particularly relate to a kind of rehabilitation training of upper limbs system and its implementation based on augmented reality.
Background technology:
The long time of the impaired rear general needs of the motor function of human body is carried out rehabilitation.Traditional human motion functional rehabilitation treatment is main mainly with therapist's manipulation greatly, is aided with some simple exercising devices.Existing rehabilitation is undertaken by medical personnel's management guidance in recovery centre usually, and is larger to expending of human and material resources.Training content mostly is mechanicalness repetitive operation, and the patient lacks the effective interaction with rehabilitation training system, and long-time training can allow the patient produce boredom, has greatly affected the effect of rehabilitation.
Virtual reality (Virtual Reality, VR) is a kind of emerging technology that develops rapidly, and it utilizes computer and sensing technology to generate the virtual world with multiple stimulus to the sense organ, can make the people produce a kind of sensation on the spot in person.Augmented reality (Augment Reality, AR) technology is a key areas in the virtual reality research.Augmented reality is superimposed upon the dummy object that computer generates on the real world scene.Realize the seamless spliced of dummy object and real world by motion tracking.Augmented reality is both combinations between virtual reality and pure real world.Augmented reality is applied to the rehabilitation medical field, can breaks through the limitation of Traditional Rehabilitation therapy.The user not only can touch the various ways information feedback that virtual world provides but also can carry out natural interaction with real object in the augmented reality rehabilitation training system, so the augmented reality rehabilitation training has the two-fold advantage of virtual rehabilitation training and real rehabilitation training.
Summary of the invention:
Main purpose of the present invention is to provide a kind of rehabilitation training system based on augmented reality and method for the human upper limb locomotion function is impaired, improves mechanical uninteresting, the low inferior problem of resource utilization of Traditional Rehabilitation training.The present invention improves traditional human upper limb locomotion ability rehabilitation system, by in conjunction with augmented reality, increases the interest of rehabilitation and improves patient's enthusiasm, so that rehabilitation efficacy is improved.
The present invention proposes a kind of rehabilitation training of upper limbs system that utilizes augmented reality, comprises video acquiring module, augmented reality registration module, rehabilitation game algorithm module, threedimensional model module, outdoor scene Fusion Module, user data module and therapist's module;
The outdoor scene video that the hand-held training device that identifies with augmented reality of described video acquiring module Real-time Obtaining patient carries out rehabilitation training; The described outdoor scene video information of described augmented reality registration module analysis, the augmented reality sign in the identification video information also calculates the parameter information that augmented reality identifies; Described rehabilitation game algorithm module is played according to the role in the parameter information control augmented reality rehabilitation game of the augmented reality sign on the hand-held training device of patient;
The production method of the video of augmented reality rehabilitation game is, by the threedimensional model of described threedimensional model module stores dummy object; Described outdoor scene Fusion Module merges the threedimensional model of the dummy object in described outdoor scene video and the threedimensional model module, generates final augmented reality rehabilitation game video;
The essential information of described user data module stores record patient and training mission performance (this information is patient's training data); Therapist's module receives the real-time training video of user and training data;
Described augmented reality is designated square, is made of outside black box and inner mark symbol two parts.
Patient's training data comprises: patient's essential information, such as date of sex, age, beginning rehabilitation training etc.; Patient's training mission performance is such as the time length of training, the data such as Mission Objective number of success at every turn.
Described augmented reality registration module comprises sign recognition unit and parameter calculation unit;
201) described sign recognition unit is processed described outdoor scene video, searches augmented realities all in the video image and identifies and it is identified one by one;
202) parameter calculation unit is calculated the three-dimensional six-degree-of-freedom posture information that obtains to translation and the coefficient of rotary that the augmented reality of identifying identifies.
Described step 201) in, concrete steps are first real-video image to be processed: with image binaryzation, and search for, locate the black box that augmented reality identifies, the augmented reality sign is carried out template matches with the sign in the database identify this sign;
Described step 202) in, described parameter is the six-degree of freedom position and attitude information of augmented reality sign, is respectively 3 translation coefficients and 3 coefficients of rotary;
The concrete computational methods of calculating the 3 d pose data of augmented reality sign are: plane of delineation coordinate and object dimensional coordinate opening relationships formula by four angles of augmented reality sign are calculated transition matrix; By transition matrix, further extract concrete attitude parameter again.
Below be mathematical relationship:
Calculate the 3 d pose data of augmented reality sign, relate to three-dimensional body in the projection on plane:
m＝PM＝K[R|t]M (1)
M, M are respectively the homogeneous coordinates under image coordinate system and three-dimensional body coordinate system of any point in the formula; Wherein, under image coordinate system, image coordinate is m=[u, v, 1]
TUnder the three-dimensional body coordinate system, the three-dimensional body coordinate is M=[X, Y, Z, 1]
TR is the rotation transformation matrix, is one 3 * 3 orthogonal matrix; T is translation vector, and K represents the inner parameter matrix of video camera; P is projection matrix, P=K[R|t];
Because the augmented reality that uses is designated planar structure, therefore make Z=0, then (1) formula is written as:
R in the formula
1, r
2, r
3Be three column vectors of spin matrix R, K[r
1r
2T] be the homography matrix that the plane of delineation is arrived on the Z plane, writing:
λH＝[h
1 h
2 h
3]＝K[r
1 r
2 t] (3)
Wherein λ is nonzero coefficient, and H is the standard homography matrix, | H|=1, h
1, h
2, h
3Three column vectors for H;
(2) formula further is expressed as:
For h
1, h
2, h
3, r
1, r
2, r
3, t, λ, following relation is arranged:
r
1＝λK
-1h
1,r
2＝λK
-1h
2,
r
3＝r
1×r
2,t＝λK
-1h
3, （5）
λ＝1/‖K
-1h
1‖＝1/||K
-1h
2‖
The coordinate that obtains identifying 4 angle points can be tried to achieve homography matrix H by (4) formula; Can further extrapolate R and t by relational expression (5).
Described rehabilitation game algorithm module is played by the role in the game of control augmented reality, and the guiding patient carries out the motion of upper limbs.Described rehabilitation game algorithm processing is to play with the role in parameter information (this parameter information specifically refers to translation and coefficient of rotary) the control augmented reality game that identifies on the hand-held training device of patient, and the guiding patient carries out the motion of upper limbs; Simultaneously patient's training performance is assessed and data record.
The summary description of augmented reality game: it is purpose that augmented reality plays to train patient's upper extremity exercise ability, the patient needs the moving training device of above limb girdle to finish setting in the game of task in game, by repeatedly carry out the purpose that the actions such as upper limbs moves, inclination, joint rotation reach rehabilitation training in game.
The present invention contrasts existing upper extremity exercise ability rehabilitation training system and method has the following advantages:
1. existing upper extremity exercise functional rehabilitation treatment is carried out in medical institutions usually, instructs monitoring by the medical personnel.The shortage of medical resource is received treatment to the patient and has been caused difficulty and strengthened patient's economic pressures.The present invention is a kind of Novel rehabilitation system based on augmented reality, this system user close friend, and convenient operation, structure only need common camera and personal computer, and cost low being easy to is realized, is convenient to the daily use at home of patient.
2. the content of Traditional Rehabilitation training is too dull and uninteresting, makes easily the patient produce boredom, affects rehabilitation efficacy.The present invention uses augmented reality, has strengthened mutual between system and the user, makes rehabilitation course have stronger interactivity and interest.Instruct the patient to finish better training by system to the information feedback that the patient applies various ways, improved the enthusiasm that the patient carries out rehabilitation training.
3. the rehabilitation training system based on virtual reality replaces real world fully with the virtual world that computer generates.The patient is immersed in the virtual world, might cause danger owing to completely cut off actual environment.Augmented reality is the combination of virtual world and real world, has stopped the unsafe factor under the pure reality environment.
Description of drawings:
Fig. 1 is the training device schematic diagram with the augmented reality sign that uses in the embodiment of the invention;
Fig. 2 is the structural representation of the augmented reality rehabilitation training of upper limbs system in the embodiment of the invention;
The augmented reality rehabilitation training of upper limbs method flow diagram of Fig. 3 for providing in the embodiment of the invention;
Reference numeral:
The square wooden unit of X01-; Augmented reality sign on the square wooden unit of X02-; The X03-water tumbler; Augmented reality sign on the X04-water tumbler.
The specific embodiment:
The invention provides a kind of augmented reality rehabilitation training of upper limbs system, comprising:
Video acquiring module, be used for the outdoor scene video that the hand-held training device that adheres to the augmented reality sign of Real-time Obtaining patient carries out rehabilitation training.
Augmented reality registration module, be used for to analyze the outdoor scene video information, the sign object in the identification video information also calculates relevant parameter information.
Rehabilitation game algorithm module, the role who plays for the parameter information control augmented reality of handing sign with the patient play.
The threedimensional model module, be used for the threedimensional model of storing virtual object.
The outdoor scene Fusion Module, be used for the fusion of outdoor scene video and dummy object, generate final augmented reality rehabilitation game video.
The user data module, be used for stored record user's training data.
Therapist's module, be used for to receive the real-time training video of user and training data, so that medical worker is grasped patient's training and patient's training is managed and instructs.
Aforesaid augmented reality rehabilitation training of upper limbs system, wherein said augmented reality is designated square, is comprised of outside black box and inner mark symbol two parts.The training device that the patient hands can be selected voluntarily according to patient's upper limbs force and concrete training content, and the augmented reality sign is attached to its surface.
Aforesaid augmented reality rehabilitation training of upper limbs system, wherein said augmented reality registration module comprises:
The sign recognition unit is used for described outdoor scene video is processed, and searches signs all in the video image and it is identified one by one.
Parameter calculation unit is used for the calculation of parameter to described sign, obtains its three-dimensional six-degree-of-freedom posture information.
Training method based on the rehabilitation training of upper limbs system of this augmented reality is, by the mode that the hand-held training device with the augmented reality sign of patient carries out the augmented reality game patient's upper extremity exercise function carried out rehabilitation training, and concrete steps comprise:
System environments initializes;
Video acquisition, the outdoor scene video that the hand-held training device that identifies with augmented reality of Real-time Obtaining patient carries out rehabilitation training;
The augmented reality registration identifies and calculates corresponding parameter according to the augmented reality in the realtime graphic identification scene of obtaining;
The rehabilitation game algorithm is processed, according to the object in the parameter information control rehabilitation game that identifies on the hand-held training device of patient;
Outdoor scene merges, and according to threedimensional model and the display parameters thereof of dummy object the dummy object that generates is merged with the outdoor scene video information, generates the video information that the augmented reality rehabilitation is played;
Transfer of data transfers to therapist's module with patient's training data and real-time training video, so that the therapist grasps patient's training and provides guidance;
Aforesaid augmented reality rehabilitation training of upper limbs method, wherein said augmented reality is designated square, is comprised of outside black box and inner mark symbol two parts.The training device that the patient hands can be selected voluntarily according to patient's upper limbs force and concrete training content, and the augmented reality sign is attached to its surface.
The present invention is described in further detail below in conjunction with the drawings and specific embodiments:
The present invention uses registration and the tracking that realizes dummy object in the augmented reality with the sign of dark border.Before the beginning rehabilitation training, select suitable object as training device according to the kind of training and patient's concrete condition, the augmented reality sign is attached to its surface.Fig. 1 is the training device schematic diagram that has adhered to sign.As shown in Figure 1, will indicate that respectively X02 and sign X04 are attached to the surface of the square wooden unit of equipment X01 and equipment X03 water tumbler.
A kind of rehabilitation training of upper limbs system architecture schematic diagram based on augmented reality that Fig. 2 provides for this example.As shown in Figure 2, this augmented reality upper limb healing system comprises video acquiring module, augmented reality registration module, rehabilitation game algorithm module, threedimensional model module, outdoor scene Fusion Module, user data module and therapist's module.Wherein video acquiring module is used for the outdoor scene video that the hand-held training device that identifies with augmented reality of Real-time Obtaining patient carries out rehabilitation training.Augmented reality registration module links to each other with video acquiring module, is used for analyzing the outdoor scene video information, seeks the sign in the video, with its identification, and calculates relevant parameter information.Rehabilitation game algorithm module provides augmented reality rehabilitation training game, utilizes the information such as attitude, displacement of the sign that augmented reality registration module obtains, the role in the control game, and generate feedback to the patient.The user data module is used for the record of patient's training is preserved.Store the threedimensional model of dummy object in the threedimensional model module.The outdoor scene Fusion Module combines real world image and the virtual world information that video camera obtains, and generates final augmented reality rehabilitation game video information.This rehabilitation game video information will feed back to the user by display devices such as display or video eyeglasses.Therapist's module is used for receiving patient's training data and video, is convenient to medical worker and grasps patient's training and provide corresponding guidance.
The augmented reality upper limb healing method flow diagram that Fig. 3 provides for the embodiment of the invention.As shown in Figure 3, this augmented reality upper extremity exercise functional rehabilitation method comprises:
In the present embodiment, step 10, system environments initialize, and specifically can comprise: the initialization of Video Capture, the file of identification document read in, the reading in of camera inner parameter.
In the present embodiment, step 30, augmented reality registration module identify and calculate corresponding parameter according to the augmented reality in the realtime graphic identification scene of obtaining, parameter comprises 3 translation coefficients and 3 coefficients of rotary for the six-degree of freedom position and attitude information of sign.Step specifically comprises:
Step 301, video image is processed, with image binaryzation and search for the black box of augmented reality sign;
Step 302, according to the inner tag mark of sign the sign in itself and the database is carried out template matches, identify this sign;
The 3 d pose data of step 303, calculating sign;
The present invention is directed to because wound or disease cause the impaired colony of upper extremity exercise function, be used for the patient is carried out the rehabilitation training of the locomotivity, joint mobility, action stability etc. of upper limbs.Rehabilitation training is a lasting process, and must keep higher intensity.Participate in the enthusiasm of rehabilitation training in order to increase the patient, the form of game has been adopted in rehabilitation training.
By arbitrary object is carried out survey, several game forms that welcome by the patient have been drawn.Augmented reality rehabilitation training of the present invention comprises three kinds: ArcaLands game, moving of car game and pouring game.Below will describe in detail to each rehabilitation game.
The rehabilitation game comprises the ArcaLands game.System generates the virtual colored fragment of brick of some, and the hand-held training device with sign of patient represents a virtual reflecting plate.By the movement to training device, virtual reflecting plate in the control game, the virtual bead of a motion of bounce-back makes bead impact virtual fragment of brick with its cancellation.The carrying out of game needs one at the desktop platform environment.At first, our identification card one by putting at desktop is determined the position that virtual fragment of brick generates.After the game beginning, the hand-held training device with sign two of patient, the plank of simulation bounce-back bead.The information of system's analytical calculation sign two from the real scene image of camera collection is determined the position of virtual reflecting plate in the game, and judges the virtual marble that whether rebound.If successfully bounce-back, then virtual marble rebound according to the bounce-back route, and the corresponding fragment of brick that collides with it of cancellation.When the then bout game over of the whole fragments of brick of patient's cancellation, if the patient does not have to move " reflecting plate " successfully rebound bead, then failure game midway.The locomitivity of considering the patient is different, and the speed of this training game can be regulated, and is divided into three ranks, to adapt to the patient of different condition.Patient oneself also can select different hand-held objects, and change size, weight are practised.This training can improve patient's locomotivity and grippage.
The rehabilitation game also comprises the moving of car game.This game generates a virtual road on the table, and the patient need control virtual dolly and travel along this virtual road.Game minute two kinds of patterns, the patient rotates hand-held tape identification object in the first pattern, and the direction of advance of a virtual dolly of control also remains within the road scope it.This pattern has mainly been trained the flexibility in patient joint.The second pattern virtual road keeps maintaining static, and the patient's mobile object directly virtual dolly of control moves according to the virtual route that sets.This pattern has mainly been trained the locomotivity of patient's upper limbs.
The rehabilitation game also comprises the pouring game.In this training program, we are by the generating virtual scene, and indication patient moving target is to the position of appointment.The patient can select according to the condition of self shape and the weight of hand-held object.In the training process, judge by the information of sign whether the patient arrives assigned address with Suitable For Moving-goal Problems.In the virtual scene, assigned address shows an empty cup, and the hand-held object of patient then is shown as a teapot.Near the patient moved to " teapot " assigned address, then prompting user tilted " teapot ", if the patient is successfully completed action, system will show that the water in the virtual teapot injects virtual empty cup, after keeping a period of time, virtual cup will be filled with, and this training mission declares to be finished.This training mission has been stipulated the shift position of patient's hand, and the time that the patient finishes assignment of mission will be recorded, with quantity and the corresponding time score that is successfully completed task, the level of training of evaluate patient.
Claims (4)
1. rehabilitation training of upper limbs system that utilizes augmented reality, it is characterized in that, comprise video acquiring module, augmented reality registration module, rehabilitation game algorithm module, threedimensional model module, outdoor scene Fusion Module, user data module and therapist's module;
The outdoor scene video that the hand-held training device that identifies with augmented reality of described video acquiring module Real-time Obtaining patient carries out rehabilitation training; The described outdoor scene video information of described augmented reality registration module analysis, the augmented reality sign in the identification video information also calculates the parameter information that augmented reality identifies; Described rehabilitation game algorithm module is played according to the role in the parameter information control augmented reality rehabilitation game of the augmented reality sign on the hand-held training device of patient;
The production method of the video of augmented reality rehabilitation game is, by the threedimensional model of described threedimensional model module stores dummy object; Described outdoor scene Fusion Module merges the threedimensional model of the dummy object in described outdoor scene video and the threedimensional model module, generates final augmented reality rehabilitation game video;
Described user data module stores record patient training data specifically comprises the performance of patient's essential information and training mission; Therapist's module receives the real-time training video of user and training data;
Described augmented reality is designated square, is made of outside black box and inner mark symbol two parts.
2. the rehabilitation training of upper limbs system that utilizes augmented reality according to claim 1 is characterized in that: described augmented reality registration module comprises sign recognition unit and parameter calculation unit;
201) described sign recognition unit is processed described outdoor scene video, searches augmented realities all in the video image and identifies and it is identified one by one;
202) parameter calculation unit is calculated the three-dimensional six-degree-of-freedom posture information that obtains to translation and the coefficient of rotary that the augmented reality of identifying identifies.
3. the rehabilitation training of upper limbs system that utilizes augmented reality according to claim 1 is characterized in that: described rehabilitation game algorithm module is played by the role in the game of control augmented reality, and the guiding patient carries out the motion of upper limbs.
4. the rehabilitation training of upper limbs system that utilizes augmented reality according to claim 2 is characterized in that:
Described step 201) in, concrete steps are first real-video image to be processed: with image binaryzation, and search for, locate the black box that augmented reality identifies, the augmented reality sign is carried out template matches with the sign in the database identify this sign;
Described step 202) in, described parameter is the six-degree of freedom position and attitude information of augmented reality sign, is respectively 3 translation coefficients and 3 coefficients of rotary;
The concrete computational methods of calculating the 3 d pose data of augmented reality sign are: plane of delineation coordinate and object dimensional coordinate opening relationships formula by four angles of augmented reality sign are calculated transition matrix; By transition matrix, further extract concrete attitude parameter again.
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