CN115644953A - Trunk and four-limb segment skeleton system calibration method based on human anatomy - Google Patents
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- 238000000034 method Methods 0.000 title claims abstract description 50
- 210000003484 anatomy Anatomy 0.000 title claims abstract description 36
- 230000003068 static effect Effects 0.000 claims abstract description 108
- 238000005516 engineering process Methods 0.000 claims abstract description 17
- 230000003287 optical effect Effects 0.000 claims abstract description 14
- 238000006073 displacement reaction Methods 0.000 claims abstract description 13
- 210000003414 extremity Anatomy 0.000 claims description 48
- 210000001364 upper extremity Anatomy 0.000 claims description 21
- 210000003141 lower extremity Anatomy 0.000 claims description 16
- 210000000689 upper leg Anatomy 0.000 claims description 10
- 210000003789 metatarsus Anatomy 0.000 claims description 9
- 210000001664 manubrium Anatomy 0.000 claims description 8
- 210000000115 thoracic cavity Anatomy 0.000 claims description 7
- 210000002417 xiphoid bone Anatomy 0.000 claims description 7
- 210000002683 foot Anatomy 0.000 claims description 6
- 210000001699 lower leg Anatomy 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 claims description 5
- 210000001562 sternum Anatomy 0.000 claims description 5
- 210000000459 calcaneus Anatomy 0.000 claims description 3
- 210000002082 fibula Anatomy 0.000 claims description 2
- 210000000988 bone and bone Anatomy 0.000 abstract description 6
- 230000036544 posture Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 210000000245 forearm Anatomy 0.000 description 3
- 210000001872 metatarsal bone Anatomy 0.000 description 3
- 244000309466 calf Species 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
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Abstract
The invention relates to a trunk and limb segment skeleton system calibration method based on human anatomy, which comprises the following steps: determining static calibration points for a body torso segment and a body limb segment based on human anatomy; determining dynamic calibration points for the body torso section and the body limbs based on the body anatomy; calibrating a target human body based on the static calibration point and the dynamic calibration point; and acquiring the calibrated motion data of the target human body according to an optical motion capture technology. The static calibration point and the dynamic calibration point are arranged on the surface of the skin of the human body, so that the error caused by the relative displacement between the calibration point and the bone model is reduced, and the accuracy of the motion data of the bone system of the human body is greatly improved.
Description
Technical Field
The invention relates to the technical field of human body cooperative calibration based on human anatomy, in particular to a method for calibrating skeleton systems of trunk and four limb segments based on human anatomy.
Background
At present, the human body calibration technology based on human anatomy and optical motion capture is mainly static calibration, namely, a calibration point is placed at a human anatomy point, a joint center parameter estimation algorithm is utilized to solve the position of a joint center, and the size of a main bone segment of an experimental object is obtained according to the distance between adjacent joints, so that a model of a human body bone system is established. The technology can be applied to biomechanical researches such as establishing a virtual human model and researching the human action process. The existing calibration techniques are mainly based on static calibration. Because the static calibration point is arranged on the surface of the skin of the human body instead of being fixed on the skeleton in the movement process, the calibration point and the skeleton system inevitably generate tiny relative displacement in the movement process, thereby influencing the calibration precision.
Disclosure of Invention
The invention aims to provide a body and limb segment skeleton system calibration method based on human anatomy, wherein static calibration points and dynamic calibration points are arranged on the surface of human skin, so that errors caused by relative displacement between the calibration points and a skeleton model are reduced, and the accuracy of motion data of a human skeleton system is greatly improved.
In order to achieve the purpose, the invention provides the following scheme:
a calibration method for a trunk and limb segment skeleton system based on human anatomy comprises the following steps:
determining static calibration points for a body torso segment and a body limb segment based on human anatomy;
determining dynamic calibration points for the body torso section and the body limbs based on the body anatomy;
calibrating a target human body based on the static calibration point and the dynamic calibration point;
and acquiring the calibrated motion data of the target human body according to an optical motion capture technology.
Optionally, determining the static calibration point of the torso section based on the human anatomy specifically includes:
determining the position of a static body index point based on the anatomical position of the body segment, the position of the static body index point including a depression above the manubrium, a xiphoid process, a seventh cervical spinous process, and a ninth thoracic spinous process.
Optionally, determining the static calibration point of the human limb segment based on the human anatomy specifically includes:
determining the position of an upper limb static calibration point based on the anatomical position of the human limb segment; the upper limb static calibration point comprises an upper limb upper arm static calibration point and an upper limb lower arm static calibration point;
determining the position of a lower limb static calibration point based on the anatomical position of the human limb segment; the lower limb static calibration point comprises a lower limb thigh static calibration point, a lower limb shank static calibration point and a foot calibration point.
Optionally, the positions of the upper limb static calibration points include an inner upper humeral malleolus and an outer upper humeral malleolus of the upper limb, and a radial styloid process and an ulnar styloid process of the upper limb forearm.
Optionally, the positions of the static lower limb index points include the medial and lateral upper condyles of the femur of the lower limb, the tibial tubercle, the tip of the fibula, the medial and lateral malleoli of the lower limb, the superior calcaneus spine, the dorsal first metatarsus, the dorsal second metatarsus and the dorsal fifth metatarsus of the foot.
Optionally, determining the dynamic calibration points of the human torso section and the human limbs based on the human anatomy specifically includes:
manufacturing a plurality of calibration plates; a plurality of dynamic calibration points are arranged on the calibration plate;
arranging the calibration plate at the position where the relative displacement between the human body trunk section and a skeleton system is minimum to obtain a trunk dynamic calibration point group;
and arranging the calibration plate at the position of each segment of the four limbs, which is two thirds of the length of the segment from the corresponding proximal segment, so as to obtain a dynamic calibration point group of the four limbs.
Optionally, the manufacturing of the plurality of calibration plates specifically includes:
and respectively fixing the four calibration points at one ends of the four corresponding thin rods, and fixing the other end of each thin rod on a fixing plate to obtain the calibration plate.
Optionally, the obtaining motion data of the calibrated target human body according to the optical motion capture technology specifically includes:
establishing a local coordinate system according to the trunk static calibration point;
acquiring the spatial position of the dynamic calibration point group based on an optical capturing technology under a global coordinate system; the dynamic calibration point group comprises the trunk dynamic calibration point group and the limb dynamic calibration point group;
determining motion of segments of the target body based on the local coordinate system and the determined spatial locations of the set of dynamic calibration points.
Optionally, the establishing a local coordinate system according to the torso static calibration point specifically includes:
taking the static trunk calibration point at the depression above the sternum stem as the origin of the local coordinate system;
recording the middle point of the static body calibration point at the seventh cervical spinous process and the static body calibration point at the depression above the manubrium as a point A, and recording the middle point of the static body calibration point at the ninth thoracic spinous process and the static body calibration point at the xiphoid process as a point B;
setting the vector cross multiplication of the vector of the body static calibration point pointing point B at the seventh cervical spine to the vector of the body static calibration point pointing point B at the upper depression of the sternum stem to obtain an auxiliary vector
Vector to be pointed to by the point A to the point B
The direction is the Y direction of the local coordinate system, vector
Is defined as the Z direction, vector, of said local coordinate system
Cross product vector
The resulting vector direction of (a) is defined as the X-direction of the local coordinate system.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention relates to a trunk and limb segment skeleton system calibration method based on human anatomy, which comprises the following steps: determining static calibration points for a torso section and a limb section of a human body based on human anatomy; determining dynamic calibration points for the body torso section and the body limbs based on the body anatomy; calibrating a target human body based on the static calibration point and the dynamic calibration point; and acquiring the calibrated motion data of the target human body according to an optical motion capture technology. The static calibration point and the dynamic calibration point are arranged on the surface of the skin of the human body, so that the error caused by the relative displacement between the calibration point and the bone model is reduced, and the accuracy of the motion data of the bone system of the human body is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a flowchart of a method for calibrating skeleton systems of trunk and limb segments based on human anatomy according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a torso-section static index point setup location provided in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of the positions of the static calibration points of the upper and lower limbs according to the embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a dynamic calibration board according to an embodiment of the present invention;
fig. 5 is a schematic diagram of establishing a local coordinate system of a torso section according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a calibration method of a skeleton system of a trunk and four limbs based on human anatomy, which relates to a dynamic and static cooperative calibration technology of the skeleton system of the trunk and the four limbs, and more accurately captures the motion data of the skeleton system in the motion process of a human body by setting a calibration point on the surface of the skin of the human body based on the human anatomy and an optical motion capture technology (after a static calibration point and a dynamic calibration point are arranged on the human body, the spatial position of the static calibration point and the optical motion capture technology is required to be acquired). Because the calibration point is arranged on the surface of the skin of the human body instead of being fixed on the skeleton, the calibration point and the skeleton system inevitably generate tiny relative displacement in the movement process, thereby influencing the calibration precision. Therefore, the motion postures and the sizes of the human body segments need to be measured by adopting dynamic and static calibration technologies respectively, and the motion data of the human body skeleton system is obtained by the cooperation result.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Examples
As shown in fig. 1, a method for calibrating a skeleton system of a trunk and four limbs based on human anatomy is summarized as three parts: making a required calibration point; setting static calibration points for the trunk and the four limb segments; dynamic calibration points are set for the trunk and the four limbs. The specific method comprises the following steps:
s1: static calibration points for the body torso section and the body limb sections are determined based on the body anatomy.
Wherein the determining of the static calibration point of the human torso section based on the human anatomy in step S1 specifically comprises:
determining the position of a static torso index point based on the anatomical position of the torso section, the position of the static torso index point including a superior manubrium depression, an xiphoid process, a seventh cervical spinous process, and a ninth thoracic spinous process.
In this embodiment, the required calibration point can be made as required. For example, a small ball with a diameter of 15mm coated with a reflective material is made as the calibration point used in the calibration method.
As shown in fig. 2, four static index points are placed at the anatomical locations of the torso section, at the superior manubrium depression (IJUG), xiphoid process (PXIP), seventh cervical spinous process (C7 SP), and ninth thoracic spinous process (T9 SP), respectively.
The determining the static calibration points of the human limb segments based on the human anatomy in step S1 specifically includes:
determining the position of an upper limb static calibration point based on the anatomical position of the human limb segment; the upper limb static calibration point comprises an upper limb large arm static calibration point and an upper limb small arm static calibration point. The positions of the upper limb static calibration points comprise the upper inner humeral malleolus and the upper outer humeral malleolus of the upper limb upper arm and the radial styloid process and the ulnar styloid process of the upper limb lower arm.
Determining the position of a lower limb static calibration point based on the anatomical position of the human limb segment; the lower limb static calibration point comprises a lower limb thigh static calibration point, a lower limb shank static calibration point and a foot calibration point. The positions of the static calibration points of the lower limbs comprise the medial upper malleolus and the lateral upper malleolus of the femur of the thigh of the lower limb, the tibial tubercle, the fibular tip, the medial malleolus and the lateral malleolus of the calf of the lower limb, the superior calcaneus ridge, the back side of the first metatarsus, the back side of the second metatarsus and the back side of the fifth metatarsus.
As shown in fig. 3, (1) set up static calibration points for upper limbs:
two static index points are provided for the large arm, the medial superior humeral Malleolus (MHU), and the lateral superior humeral malleolus (LHU).
Two static index points, radial styloid process (RSY), ulnar styloid process (USY), are provided for the forearm.
(2) Setting static calibration points for the lower limbs:
two static index points are provided for the thigh, the medial superior femoral Malleolus (MEP), the lateral superior femoral malleolus (LEP).
Four static index points, tibial Tubercle (TTB), fibular apex (HFB), medial Malleolus (MML), lateral Malleolus (LML), are provided for the calf.
Four static index points are provided for the foot, the superior calcaneal spine (CAR), the dorsal First Metatarsal (FMR), the dorsal Second Metatarsal (SMR), the dorsal fifth metatarsal (VMR).
S2: determining dynamic calibration points of the body torso section and the body limbs based on the body anatomy.
The step S2 specifically includes:
(1) Manufacturing a plurality of calibration plates; and a plurality of dynamic calibration points are arranged on the calibration plate.
And respectively fixing the four calibration points at one ends of the four corresponding thin rods, and fixing the other end of each thin rod on a fixing plate to obtain the calibration plate, as shown in fig. 4. The four calibration points 2 are respectively fixed on four fixed rods 3 with the radius of 3mm, and the fixed rods 3 are fixed on the fixed plate 1.
(2) And arranging a calibration plate at the position where the relative displacement between the human body trunk segment and the skeletal system is minimum (namely the middle point of two static calibration points IJUG and PXIP), so as to obtain a trunk dynamic calibration point group.
(3) And arranging the calibration plate at the position of each segment of the four limbs, which is two thirds of the length of the segment from the corresponding proximal segment, so as to obtain a dynamic calibration point group of the four limbs. The limb segment comprises: big arm, forearm, thigh, shank, the proximal end section that corresponds is respectively: trunk, big arm, trunk, thigh.
Because the relative displacement of the skin and the skeletal system at each segment position of the four limbs is almost the same, the calibration plate is arrangedAt each section from the proximal section
At segment length, as a set of limb dynamic calibration points.
S3: and calibrating the target human body based on the static calibration point and the dynamic calibration point.
The calibration is performed by setting a calibration point on the skin surface of the target human body.
The static calibration points determine the size of the human body segment according to the human anatomy position, and the dynamic calibration points determine the spatial position and the posture of the human body segment at different time according to the spatial position of the calibration points.
S4: and acquiring the calibrated motion data of the target human body according to an optical motion capture technology.
Wherein, step S4 specifically includes:
(1) And establishing a local coordinate system according to the trunk static calibration point.
After the local coordinate system is established, the calculation service for calculating the relative movement of each joint, namely the joint angle, is provided. The local coordinate system is used for determining the position of the dynamic calibration point relative to the static calibration point and the rotation condition of the human body rotating shaft. The human body rotation axis is a joint rotation axis, i.e. a rotation axis around which each joint of the human body rotates 。
Establishing a local coordinate system according to the trunk static calibration point, wherein the method specifically comprises the following steps:
taking the static trunk calibration point at the depression above the sternum handle as the origin of the local coordinate system;
recording the middle point of the static body calibration point at the seventh cervical spinous process and the static body calibration point at the depression above the manubrium as a point A, and recording the middle point of the static body calibration point at the ninth thoracic spinous process and the static body calibration point at the xiphoid process as a point B;
setting a vector cross-product of the vector of the body static calibration point pointing point B at the seventh cervical spinous process to a vector of the body static calibration point pointing point B at the depression above the manubrium to obtain an assistance(Vector)
Vector to be pointed to by the point A to the point B
The direction is the Y direction of the local coordinate system, vector
Is defined as the Z direction, vector, of said local coordinate system
Cross product vector
The resulting vector direction of (2) is defined as the X-direction of the local coordinate system.
As shown in fig. 5, IJUG is set as the torso-section local coordinate system origin; setting a midpoint A, T SP of C7SP and IJUG and a midpoint B of PXIP as auxiliary points; setting the vector pointed to B by C7SP to cross multiply the vector pointed to B by IJUG to obtain an auxiliary vector
Vector of body segment local coordinate system to point from A to B
The direction is Y direction, vector
Is defined as the Z direction, vector
Cross product vector
The vector direction of (2) is defined as the X direction.
(2) Acquiring the spatial position of the dynamic calibration point group based on an optical capturing technology under a global coordinate system; the dynamic calibration point group comprises a trunk dynamic calibration point group and a limb dynamic calibration point group.
The spatial environment in which the target human body is located may be a global coordinate system, for example, a laboratory space when performing an experiment may be a global coordinate system.
(3) Determining motion of segments of the target body based on the local coordinate system and the determined spatial locations of the set of dynamic calibration points.
The dynamic calibration point set is used for calibrating four specific points and recording the relative positions of the four specific points and the static calibration points. In optical motion capture, the spatial position of the dynamic calibration point set is used to determine the motion of the segment, such as three-dimensional rotation and displacement of the limb segment, and three-dimensional rotation and displacement of the torso segment during walking.
The embodiment relates to a dynamic and static cooperative calibration technology of skeleton systems of trunk and four limbs based on the human anatomy of the trunk and the four limbs. Setting static calibration points at four anatomical positions of a trunk section and four limb sections through calibration rods, setting a dynamic calibration point group at the minimum relative displacement position of the trunk section and a skeleton system, namely the middle point of the front static calibration point, and respectively recording the position and the action posture of the trunk section; and the length of each segment of the four limbs to 2/3 of the segment of the proximal joint is respectively recorded, the position and the action posture of each segment of the four limbs are respectively recorded, the calibration points are divided into a dynamic calibration point and a static calibration point based on the human anatomy and are respectively arranged at different anatomical positions of the human body, so that the error caused by the relative displacement between the calibration points and the skeleton model is reduced, and the accuracy of the motion data of the human skeleton system is greatly improved.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. A trunk and limb segment skeleton system calibration method based on human anatomy is characterized by comprising the following steps:
determining static calibration points for a body torso segment and a body limb segment based on human anatomy;
determining dynamic calibration points for the body torso section and the body limbs based on the body anatomy;
calibrating a target human body based on the static calibration point and the dynamic calibration point;
and acquiring the calibrated motion data of the target human body according to an optical motion capture technology.
2. The calibration method according to claim 1, wherein determining the static calibration points of the human torso section based on the human anatomy specifically comprises:
determining the position of a static body calibration point based on the anatomical position of the body section, wherein the position of the static body calibration point comprises a depression above the manubrium, a xiphoid process, a seventh cervical spine process and a ninth thoracic spine process.
3. The calibration method according to claim 1, wherein determining the static calibration points of the human limb segment based on the human anatomy comprises:
determining the position of an upper limb static calibration point based on the anatomical position of the human limb segment; the upper limb static calibration point comprises an upper limb large arm static calibration point and an upper limb small arm static calibration point;
determining the position of a lower limb static calibration point based on the anatomical position of the human limb segment; the lower limb static calibration point comprises a lower limb thigh static calibration point, a lower limb shank static calibration point and a foot calibration point.
4. The calibration method according to claim 3, wherein the positions of the static calibration points of the upper limb comprise the medial and lateral upper humeral malleoli of the upper greater arm and the radial and ulnar styluses of the lower arm of the upper limb.
5. The calibration method according to claim 3, wherein the positions of the static calibration points of the lower limbs comprise the medial and lateral upper malleoli of the femur of the lower limb, the tibial tubercle, the tip of the fibula, the medial and lateral malleoli of the lower leg, the superior calcaneus of the foot, the dorsal first metatarsus, the dorsal second metatarsus and the dorsal fifth metatarsus.
6. The calibration method according to claim 2, wherein determining the dynamic calibration points of the body torso section and the body limbs based on the body anatomy comprises:
manufacturing a plurality of calibration plates; a plurality of dynamic calibration points are arranged on the calibration plate;
arranging the calibration plate at the position where the relative displacement between the human body trunk section and the skeleton system is minimum to obtain a trunk dynamic calibration point group;
and arranging the calibration plate at the position of each segment of the four limbs, which is two thirds of the length of the segment from the corresponding proximal segment, so as to obtain a dynamic calibration point group of the four limbs.
7. The calibration method according to claim 6, wherein the manufacturing of the plurality of calibration plates specifically comprises:
and respectively fixing the four calibration points at one ends of the four corresponding thin rods, and fixing the other end of each thin rod on a fixing plate to obtain the calibration plate.
8. The calibration method according to claim 7, wherein the acquiring motion data of the calibrated target human body according to the optical motion capture technology specifically comprises:
establishing a local coordinate system according to the trunk static calibration point;
acquiring the spatial position of the dynamic calibration point group based on an optical capturing technology under a global coordinate system; the dynamic calibration point group comprises the trunk dynamic calibration point group and the limb dynamic calibration point group;
determining motion of the segments of the target body based on the local coordinate system and the determined spatial locations of the set of dynamic calibration points.
9. The calibration method according to claim 8, wherein the establishing a local coordinate system according to the torso static calibration point specifically comprises:
taking the static trunk calibration point at the depression above the sternum stem as the origin of the local coordinate system;
recording the middle point of the static body calibration point at the seventh cervical spinous process and the static body calibration point at the depression above the manubrium as a point A, and recording the middle point of the static body calibration point at the ninth thoracic spinous process and the static body calibration point at the xiphoid process as a point B;
setting the vector cross multiplication of the vector of the body static calibration point pointing point B at the seventh cervical spine to the vector of the body static calibration point pointing point B at the upper depression of the sternum stem to obtain an auxiliary vector
Vector to be pointed to by the point A to the point B
The direction is the Y direction of the local coordinate system, vector
Is defined as the Z direction, vector, of said local coordinate system
Cross product vector
The resulting vector of (a) is oriented asThe X direction of the local coordinate system.
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