WO2020015204A1 - 基于虚拟现实的四肢康复训练方法与*** - Google Patents

基于虚拟现实的四肢康复训练方法与*** Download PDF

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WO2020015204A1
WO2020015204A1 PCT/CN2018/109364 CN2018109364W WO2020015204A1 WO 2020015204 A1 WO2020015204 A1 WO 2020015204A1 CN 2018109364 W CN2018109364 W CN 2018109364W WO 2020015204 A1 WO2020015204 A1 WO 2020015204A1
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training
rehabilitation
game
rehabilitation training
patient
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PCT/CN2018/109364
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English (en)
French (fr)
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王俊华
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广州市三甲医疗信息产业有限公司
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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0075—Means for generating exercise programs or schemes, e.g. computerized virtual trainer, e.g. using expert databases
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
    • A63B2024/0096—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load using performance related parameters for controlling electronic or video games or avatars
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A63B2071/0638—Displaying moving images of recorded environment, e.g. virtual environment
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/18—Inclination, slope or curvature

Definitions

  • the invention relates to the field of rehabilitation training, in particular to a method and system for limb rehabilitation training based on virtual reality.
  • Virtual reality technology has developed rapidly in recent years and has gradually penetrated into our lives.
  • the industries with more VR applications in China are the game industry and the education industry.
  • a small amount of virtual reality technology has been used in the medical field, but there are still relatively few virtual reality technologies used in the field of rehabilitation medicine.
  • a small amount of virtual reality technology in the field of rehabilitation medicine is still at the game level. It is neither invasive nor interactive. Paralyzed patients are a special group. They have different degrees of movement disorders. If the games on the market are simply introduced into the field of rehabilitation, the purpose of combining rehabilitation medicine and new intelligent technology to improve the effect of rehabilitation training cannot be achieved.
  • the embodiments of the present invention aim to solve at least one of the technical problems existing in the prior art. For this reason, the embodiments of the present invention need to provide a method and system for limb rehabilitation training based on virtual reality.
  • Step 1 Create a patient's account and enter the patient's personalized information in the account;
  • Step 2 Set the motion angle evaluation mode
  • Step 3 Initialize a rehabilitation game based on virtual reality, and select a rehabilitation training category, a rehabilitation training mode, a rehabilitation training time, and a rehabilitation training scene difficulty level category.
  • the training mode includes at least two modes; the rehabilitation training scene in each rehabilitation training mode includes at least two types of rehabilitation training difficulty levels;
  • Step 4 Real-time assessment of the training situation of the limb rehabilitation training by the patient using the rehabilitation game and giving feedback to the patient, upload the training data and generate an evaluation report after the rehabilitation game;
  • Step 5 After the rehabilitation training is completed, the training data is stored in the local database and the cloud database; when it is determined that the data of the local database changes, the cloud database is updated synchronously according to the changes, so that the cloud database and the local database remain consistent;
  • Step 6 Receive a query request for historical evaluation reports or training results, and feed back corresponding evaluation reports or training results according to the query request.
  • step 3 includes:
  • the rehabilitation training category includes horizontal rotation category, vertical swing category and three-dimensional comprehensive category;
  • Rehabilitation training modes include one-handed training mode and two-handed training mode
  • the difficulty level categories of rehabilitation training scenes include first degree, second degree, and third degree.
  • step 4 includes:
  • Step 41 The host computer program collects the angle data of the patient rotating in the left and right direction, swinging up and down, or ankle movement when using the rehabilitation game to perform limb rehabilitation training through the angle sensor, and draws an angle curve trend chart based on the angle data for the rehabilitation physician to perform real-time evaluation;
  • Step 42 The virtual reality program receives the angle data sent by the upper computer program, drives the object movement in the rehabilitation game according to the angle data, and gives feedback according to the training situation of the patient in the rehabilitation game;
  • Step 43 The virtual reality program uploads training data to the host computer program after the rehabilitation game ends;
  • Step 44 The host computer program generates an evaluation report according to the training data.
  • step 42 includes:
  • the virtual reality program receives the angle data sent by the upper computer program, and drives the object movement in the rehabilitation game according to the angle data;
  • the feedback according to the training situation of the patient in the rehabilitation game is as follows:
  • a prompt is issued to the patient to strengthen the acquisition of the game target
  • the positive incentive conditions include: consecutively obtaining more than a predetermined number of game goals, and the score of this game exceeds the last time Score the game, get the highest score for this game, or get the highest score in game history.
  • step 44 includes:
  • the host computer program calculates training data based on preset weights to obtain training scores.
  • the calculation formula is as follows:
  • the preset weights include the weight W1 of the training mode difficulty degree U1, the weight W2 of the training completion ratio U2, the weight W3 of the training completion time U3, and the weight W4 of the target completion ratio U4;
  • U1 is set to 60 in simple mode, 80 in normal mode, and 100 in difficult mode.
  • U3 is less than or equal to the preset total time value is 100, and less than or equal to 5 minutes
  • the upper computer program then graphically processes the training scores and other training data to generate an evaluation report for rehabilitation training analysis.
  • the report includes a comparison histogram of the last training score, the current training score, and the best training score, and The pie charts of the last training, this training and the best training.
  • An embodiment of the present invention also proposes a limb rehabilitation training system based on virtual reality, which is characterized by including:
  • Account module used to create a patient's account and enter patient personalized information in the account
  • An initialization module is used to initialize a rehabilitation game based on virtual reality, and select a rehabilitation training category, a rehabilitation training mode, a rehabilitation training time, and a rehabilitation training scene difficulty level category. Among them, there are at least two kinds of rehabilitation training categories.
  • Rehabilitation training mode includes at least two modes; the rehabilitation training scene in each rehabilitation training mode includes at least two training difficulty categories;
  • Evaluation feedback module used for real-time evaluation of the training situation of patients using limbs rehabilitation training using rehabilitation games and giving feedback to patients, uploading training data and generating evaluation reports after the rehabilitation games;
  • the storage synchronization module is used to store the training data to the local database and the cloud database after the rehabilitation training is completed; when it is determined that the data of the local database changes, the cloud database is updated synchronously according to the changes, so that the cloud database and the local database are consistent;
  • the query module is used to receive a query request for historical evaluation reports or training results, and feedback the corresponding evaluation report or training results according to the query request.
  • the initialization module is specifically configured to initialize a rehabilitation game based on virtual reality, and select a rehabilitation training category, a rehabilitation training mode, a rehabilitation training time, and a difficulty training scene rehabilitation category according to the situation of the patient;
  • the rehabilitation training categories include horizontal rotation category, vertical swing category and stereo comprehensive category;
  • Rehabilitation training modes include one-handed training mode and two-handed training mode
  • the difficulty level categories of rehabilitation training scenes include first degree, second degree, and third degree.
  • the evaluation feedback module includes a host computer program and a virtual reality program, wherein:
  • the upper computer program is used to collect angle data of rotation, left-and-right swing, or ankle movement of patients during rehabilitation training of limbs using rehabilitation games through angle sensors, and draw an angle curve trend chart based on the angle data for rehabilitation doctors to perform real-time evaluation;
  • the virtual reality program is used to receive the angle data sent by the host computer program, and drive the object movement in the rehabilitation game based on the angle data, and give feedback according to the training situation of the patient in the rehabilitation game;
  • the virtual reality program is also used to upload training data to the host computer program after the rehabilitation game is over;
  • the host computer program is also used to generate an evaluation report based on the training data.
  • the virtual reality program is specifically configured to receive angle data sent by a host computer program, and drive the object movement in the rehabilitation game according to the angle data;
  • the virtual reality program gives feedback based on the patient's training in the rehabilitation game as follows:
  • a prompt is issued to the patient to strengthen the acquisition of the game target
  • the positive incentive conditions include: consecutively obtaining more than a predetermined number of game goals, and the score of this game exceeds the last time Score the game, get the highest score for this game, or get the highest score in game history.
  • the host computer program is specifically configured to calculate training data according to a preset weight to obtain a training score, and the calculation formula is as follows:
  • the preset weights include the weight W1 of the training mode difficulty degree U1, the weight W2 of the training completion ratio U2, the weight W3 of the training completion time U3, and the weight W4 of the target completion ratio U4;
  • U1 is set to 60 in simple mode, 80 in normal mode, and 100 in difficult mode.
  • U3 is less than or equal to the preset total time value is 100, and less than or equal to 5 minutes
  • the upper computer program then graphically processes the training scores and other training data to generate an evaluation report for rehabilitation training analysis.
  • the report includes a comparison histogram of the last training score, the current training score, and the best training score, and The pie charts of the last training, this training and the best training.
  • the method and system for limb rehabilitation training based on virtual reality enable patients to perform limb rehabilitation training through games in an entertaining and interesting virtual scene, while real-time assessment and feedback of rehabilitation training are achieved, and
  • FIG. 1 is a schematic flowchart of a limb rehabilitation training method based on virtual reality according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a limb rehabilitation training system based on virtual reality according to an embodiment of the present invention.
  • a virtual reality-based limb rehabilitation training method includes:
  • Step 1 Create a patient's account and enter patient personalized information in the account.
  • Step 2 Set the motion angle evaluation mode.
  • Step 3 Initialize a rehabilitation game based on virtual reality, and select a rehabilitation training category, a rehabilitation training mode, a rehabilitation training time, and a rehabilitation training scene difficulty level category.
  • the training mode includes at least two modes; the rehabilitation training scene under each rehabilitation training mode includes at least two types of rehabilitation training difficulty levels.
  • Step 4 Real-time evaluation of the training situation of the limb rehabilitation training performed by the patient using the rehabilitation game and giving feedback to the patient. After the rehabilitation game is over, the training data is uploaded and an evaluation report is generated.
  • Step 5 After the rehabilitation training is completed, the training data is stored in a local database and synchronized to a cloud database.
  • Step 6 Receive a query request for historical evaluation reports or training results, and feed back corresponding evaluation reports or training results according to the query request.
  • An embodiment of the present invention also simultaneously proposes an extremity rehabilitation training system based on virtual reality, including: an account module, a setting module, an initialization module, an evaluation feedback module, a storage synchronization module, and a query module.
  • an account module including: a setting module, a setting module, an initialization module, an evaluation feedback module, a storage synchronization module, and a query module.
  • the account module is used to create a patient's account and enter patient personalized information in the account.
  • a setting module is used to set a motion angle evaluation mode.
  • An initialization module is used to initialize a rehabilitation game based on virtual reality, and select a rehabilitation training category, a rehabilitation training mode, a rehabilitation training time, and a rehabilitation training scene difficulty level category. Among them, there are at least two kinds of rehabilitation training categories.
  • the rehabilitation training mode includes at least two modes; in each rehabilitation training mode, the rehabilitation training scene includes at least two training difficulty categories.
  • Evaluation feedback module is used for real-time evaluation of the training situation of patients using limbs rehabilitation training using rehabilitation games and giving feedback to patients. After the rehabilitation game ends, upload training data and generate evaluation reports.
  • the storage synchronization module is used to store training data to a local database and synchronize to a cloud database after the rehabilitation training is completed.
  • the query module is used to receive a query request for historical evaluation reports or training results, and feedback the corresponding evaluation report or training results according to the query request.
  • the virtual reality-based limb rehabilitation training method uses the virtual reality-based limb rehabilitation training system as a step execution target, and each module in the system may also be used as a step execution target.
  • step 1 is executed by the account module
  • step 2 is executed by the setting module
  • step 3 is executed by the initialization module
  • step 4 is executed by the evaluation and feedback module
  • step 5 is executed by the storage synchronization module
  • step 6 is executed by the query module.
  • the invention can be used in conjunction with the Chinese utility model "upper limb rehabilitation training equipment and its virtual reality training system” with application number 201620862401.2, that is, upper limb rehabilitation training equipment and its virtual reality training system as hardware facilities for rehabilitation training to implement the invention
  • the account module creates a patient's account and enters the patient's personalized information in the account.
  • Personalized information usually includes the patient's personal information, patient complaint, and course information. That is, the account module can create a patient's account, and then edit and save the user's personal information, such as name, gender, age, address, contact phone number, etc .; and the patient's main complaint and course information, such as the patient's self-reported symptoms or (and) Signs, nature, and duration, and the rehabilitation training process made by the rehabilitation physician. If the patient has already experienced a rehabilitation game, the setting information for the rehabilitation game is also part of the personalized information of the patient. The account module ensures that the next time the patient enters the rehabilitation game, the last saved setting is selected by default.
  • step 2 the setting module sets a motion angle evaluation mode.
  • Comprehensive exercise angle assessment is the basis for subsequent rehabilitation training; rehabilitation training games will be based on the results of user angle assessments for game planning, and the game will be used to guide users to exercise at the maximum angle of activity to optimize the effect of rehabilitation training; for example In the aircraft game, the targets are regularly arranged according to the maximum angle of the patient's assessment of up and down pressure, so that the patient can achieve the best rehabilitation effect in the rehabilitation training.
  • the setting module can display the exercise angle assessment mode of rehabilitation training to the rehabilitation physician through a graphical interface display mode, and the rehabilitation physician can implement the setting of the exercise angle assessment mode by clicking, touching, etc. with the mouse according to the condition of the patient.
  • the exercise angle evaluation mode includes a two-hand evaluation mode, a left-hand evaluation mode, or a right-hand evaluation mode, and the exercise angle evaluation mode is used for evaluation of left-right rotation angle, upward-downward pressure angle, or ankle joint motion angle.
  • the setting module determines the setting of the exercise angle assessment mode of the rehabilitation training according to the selection of the rehabilitation physician.
  • the initialization module initializes a virtual reality-based rehabilitation game, and selects a rehabilitation training category, a rehabilitation training mode, a rehabilitation training time, and a rehabilitation training scene difficulty level category.
  • a rehabilitation training category there are at least two kinds of rehabilitation training categories, each kind of rehabilitation training
  • the rehabilitation training mode under the category includes at least two modes; the rehabilitation training scene under each rehabilitation training mode includes at least two types of rehabilitation training difficulty levels.
  • step 3 includes: initializing a virtual reality-based rehabilitation game, and selecting a rehabilitation training category, a rehabilitation training mode, a rehabilitation training time, and a difficulty training scene difficulty classification category according to the patient's situation;
  • the rehabilitation training categories include horizontal rotation category, vertical swing category and stereo comprehensive category;
  • Rehabilitation training modes include one-handed training mode and two-handed training mode
  • the difficulty level categories of rehabilitation training scenes include first degree, second degree, and third degree.
  • the first level may be the difficulty level
  • the second level may be the intermediate level
  • the third level may be the ease level.
  • the situation of different patients is different, and the rehabilitation training needs are different, which requires the realization of precise rehabilitation.
  • the invention allows patients to perform rehabilitation training in a virtualized game environment, which can not only make patients feel novel and interesting, and feel happy, but also achieve the purpose of rehabilitation training.
  • the horizontal rotation category can use racing training games and fishing master training games to complete horizontal rehabilitation training
  • the vertical swing category can use interstellar sailing training games and big fish eating small fish training games to complete vertical rehabilitation training
  • the three-dimensional comprehensive category can use doll machine training games and parkour training games to complete rehabilitation training in all directions.
  • step 4 the evaluation feedback module evaluates in real time the patient's training of limb rehabilitation training using the rehabilitation game and gives feedback to the patient.
  • the training data is uploaded and an evaluation report is generated. That is, accurate limb rehabilitation training is performed according to the degree of rehabilitation and paralysis of the patient.
  • the angle data during rehabilitation training is collected by the host computer program in real time, and it interacts with the virtual reality game of rehabilitation training to complete the real-time evaluation and real-time motion feedback.
  • the machine program automatically analyzes the training data and automatically generates a training result report.
  • step 4 includes:
  • step 41 the host computer program collects angle data of rotation, left-and-right swing, or ankle movement of the patient during rehabilitation training of the limbs using rehabilitation games through an angle sensor, and draws an angle curve trend chart based on the angle data for the rehabilitation physician to perform real-time evaluation. That is, the angle data is transmitted to the virtual reality program to drive the game object on the one hand, and the angle curve trend chart is drawn on the interface of the host computer program according to the change of the angle data and data for real-time evaluation by the rehabilitation physician.
  • Step 42 The virtual reality program receives the angle data sent by the upper computer program, drives the object movement in the rehabilitation game according to the angle data, and gives feedback according to the training situation of the patient in the rehabilitation game.
  • the virtual reality program converts the received angle data into driving data of the game object. For example, when a patient turns to the left on the training platform in a car game, the car will rotate to the left in equal proportions. Enter the game and immerse the patient in virtual reality to complete specific rehabilitation training. In the process of rehabilitation training, provide immediate assessment and feedback. If the patient continuously completes the goal, there will be encouragement to form a positive motivation for the patient; if the patient cannot continuously achieve the goal, give a reminder and incentive to instruct the patient how to change the operation completion Goal, complete the game.
  • step 42 includes:
  • the virtual reality program receives the angle data sent by the upper computer program, and drives the object movement in the rehabilitation game according to the angle data.
  • the feedback according to the training situation of the patient in the rehabilitation game is as follows:
  • the positive incentive conditions include: consecutively obtaining more than a predetermined number of game goals, the current game Score more than the last game score, get the highest score in this game, or the highest score in game history.
  • the virtual reality program receives the angle data issued by the host computer program, and drives the game object to move left and right or up and down to obtain the target or avoid the target, and obtains a corresponding score according to the completion of the target.
  • Rehabilitation physicians can pre-set the number and placement of game targets according to the requirements of rehabilitation training. For example, a patient reflects a car in a virtual reality program. This is a rehabilitation game.
  • Gold coins are usually placed in the center of the car ’s road, but if needed.
  • the virtual reality program will drive the objects in the rehabilitation game according to the angle data. In the rehabilitation game of eating small fish, the big fish moves up and down to catch the small fish.
  • a prompt is issued to the patient for obtaining the game target. That is to say, the predetermined number of times is 3, and the game target is the gold coins that need to be hit on the left or right side of the road.
  • the evaluation and feedback unit can use voice or subtitles to prompt the patient to "please exert force to the left / right direction".
  • the patient will be prompted for positive incentives, where the positive incentive conditions include: consecutively obtaining the game target for more than a predetermined number of times, The score of the second game exceeds the last game score, the highest score of this game, or the highest score of game history. That is to say, the predetermined number of times is 3, and the game target is gold coins that need to be impacted on the left or right side of the road. Or subtitles to remind patients "You are awesome.” If the patient ’s score of driving a car against a gold coin this time exceeds the score of the previous game, the evaluation and feedback unit may use voice or subtitles to prompt “Congratulations, go further!”.
  • the positive incentive conditions include: consecutively obtaining the game target for more than a predetermined number of times, The score of the second game exceeds the last game score, the highest score of this game, or the highest score of game history. That is to say, the predetermined number of times is 3, and the game target is gold coins that need to be impacted on the left or right side of the road. Or subtitles
  • Step 43 The virtual reality program uploads training data to the host computer program after the rehabilitation game ends.
  • the virtual reality program uploads the training completion status, training completion time, and target completion status of this training to the host computer program; the host computer program uses certain algorithms to obtain the patient training scores and generates an intuitive histogram: last time, This time, the best time score comparison histogram; simultaneously generate the current, the last, the best time's respective total score comparison and the respective completion of the target situation, as well as the specific analysis of the upper limb left and right rotation (or up and down pressure) obstacle analysis and many more.
  • Step 44 The host computer program generates an evaluation report according to the training data.
  • step 44 includes:
  • the host computer program calculates training data based on preset weights to obtain training scores.
  • the calculation formula is as follows:
  • the preset weights include the weight W1 of the difficulty level U1 of the training mode, the weight W2 of the training completion ratio U2, the weight W3 of the training completion time U3, and the weight W4 of the target completion ratio U4.
  • U1 is set to 60 in simple mode, 80 in normal mode, and 100 in difficult mode.
  • the value of U2 is 0 to 100%.
  • U3 takes less than or equal to the preset total time value as 100, more than 5 minutes as the total time value as 80, and more than 5 minutes as the total time value as 60.
  • the value of U4 is 0 to 100%.
  • the upper computer program then graphically processes the training scores and other training data to generate an evaluation report for rehabilitation training analysis.
  • the report includes a comparison histogram of the last training score, the current training score, and the best training score, and The pie charts of the last training, this training and the best training.
  • Set rehabilitation training assessment indicators include:
  • Table 2 is the judgment matrix of the present invention using the analytic hierarchy process, which is viewed in conjunction with the above 1-9 scale. If the ratio of the importance of element i and element j is a ij , then the ratio of the importance of element j and element i is For example, the cross of 1/2 in the second row and the third column refers to the comparison of the importance of the factors of the completion ratio of U2 training and the completion time of U3 training; Important; choose which scale to judge based on actual needs, and its correctness can be verified by consistency check.
  • the formula for the calculation unit to obtain the training score by calculating the target data according to the preset weights is as follows:
  • U1 has a value of 60 in simple mode, 80 in normal mode, and 100 in difficult mode.
  • the value of U2 is 0 to 100%.
  • U3 takes less than or equal to the preset total time value as 100, more than 5 minutes as the total time value as 80, and more than 5 minutes as the total time value as 60.
  • the value of U4 is 0 to 100%.
  • a storage synchronization module is used to store the training data to the local database and the cloud database after the rehabilitation training is completed; when it is determined that the data of the local database changes, the cloud database is updated synchronously according to the changes, so that the cloud database and the local database are maintained Consistent.
  • the storage synchronization module can detect whether the data in the local database has changed in real time or at a predetermined time interval. When a change occurs, the cloud database is updated synchronously according to the change, so that the data in the cloud database is consistent with the local database. For example, if the storage synchronization module detects an increase in the data in the local database, you can synchronize the increased data to the cloud database; or if the storage synchronization module detects the data in the local database is deleted, the cloud database will delete the data according to the deleted part. Cut out the corresponding part in the cloud. Regardless of whether it is added or deleted, the purpose of the synchronous update is to achieve the consistency of the data in the cloud database and the local database; it can not only complete the work of data backup, but also ensure the Internet access of the data and increase the openness of the data.
  • step 6 the query module receives a query request for historical evaluation reports or training results, and feeds back corresponding evaluation reports or training results according to the query request.
  • the rehabilitation physician needs to view the rehabilitation training related data of a patient, and then selects the corresponding report in the list of evaluation reports by clicking, sliding, and voice input on the display interface of the upper computer program, and queries
  • the module is regarded as receiving the query request of the historical evaluation report, and then the corresponding evaluation report is obtained by fetching the data from the local database and fed back to the host computer program, and the host computer program displays the corresponding information in the display interface. Evaluation report.
  • the query module retrieves the training results of the patient for a specified number of trainings or all historical training results of the patient from the cloud database, and feeds back the retrieved results to the patient, so that the patient can view his own on the mobile phone Training results.
  • the method and system for limb rehabilitation training based on virtual reality enable patients to perform limb rehabilitation training through games in an entertaining and interesting virtual scene, while real-time assessment and feedback of rehabilitation training are achieved, and
  • first and second are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "a plurality" is two or more, unless it is specifically and specifically defined otherwise.
  • Removable connection or integral connection can be mechanical connection, electrical connection or can communicate with each other; can be directly connected, or indirectly connected through an intermediate medium, can be the internal connection of two components or two components Interaction.
  • Removable connection or integral connection can be mechanical connection, electrical connection or can communicate with each other; can be directly connected, or indirectly connected through an intermediate medium, can be the internal connection of two components or two components Interaction.
  • the "on" or “under” of the second feature may include direct contact between the first and second features, or may include the first and second features.
  • the second feature is not a direct contact but a contact through another feature between them.
  • the first feature is “above”, “above”, and “above” the second feature, including that the first feature is directly above and obliquely above the second feature, or merely indicates that the first feature is higher in level than the second feature.
  • the first feature is “below”, “below”, and “below” of the second feature, including the fact that the first feature is directly below and obliquely below the second feature, or merely indicates that the first feature is less horizontal than the second feature.
  • Any process or method description in a flowchart or otherwise described herein can be understood as a module, fragment, or portion of code that includes one or more executable instructions for implementing a particular logical function or step of a process
  • the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order according to the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present invention pertain.
  • Logic and / or steps represented in a flowchart or otherwise described herein, for example, a sequenced list of executable instructions that may be considered to implement a logical function, may be embodied in any computer-readable medium, For use by instruction execution systems, devices, or devices (such as computer-based systems, systems that include processing modules, or other systems that can take instructions from and execute instructions) Or equipment.
  • a "computer-readable medium” may be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.
  • computer-readable media include the following: electrical connections (electronic devices) with one or more wirings, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disk read-only memory (CDROM).
  • the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable Processing to obtain the program electronically and then store it in computer memory.
  • each part of the embodiments of the present invention may be implemented by hardware, software, firmware, or a combination thereof.
  • multiple steps or methods may be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware, as in another embodiment, it may be implemented using any one or a combination of the following techniques known in the art: Discrete logic circuits, application-specific integrated circuits with suitable combinational logic gate circuits, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.
  • a person of ordinary skill in the art can understand that all or part of the steps carried by the methods in the foregoing embodiments can be implemented by a program instructing related hardware.
  • the program can be stored in a computer-readable storage medium.
  • the program is When executed, one or a combination of the steps of the method embodiment is included.
  • each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist separately physically, or two or more units may be integrated into one module.
  • the above integrated modules may be implemented in the form of hardware or software functional modules. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.
  • the aforementioned storage medium may be a read-only memory, a magnetic disk, or an optical disk.

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Abstract

本发明涉及康复训练领域，涉及一种基于虚拟现实的四肢康复训练方法，包括：创建患者账户并录入患者个性化信息；设置运动角度评定模式；初始化基于虚拟现实的康复游戏；实时评估患者利用康复游戏实施四肢康复训练的训练情况并给与反馈，游戏结束后上传训练数据并生成评估报告；进行数据同步并响应查询。本发明还提出对应的***。本发明患者在充满娱乐性和趣味性的虚拟场景中通过游戏方式实现四肢康复训练的同时，实现康复训练的即时评估与反馈，并通过在康复游戏中选择三种康复训练类别，和选择每种类别下的康复训练模式和多种场景难易程度的类别，最终形成基于虚拟场景四肢康复的精准康复训练方法。

Description

基于虚拟现实的四肢康复训练方法与*** 技术领域
本发明涉及康复训练领域，特别涉及一种基于虚拟现实的四肢康复训练方法与***。
背景技术
虚拟现实技术近年来快速发展，已经逐渐渗透到我们的生活之中。我国虚拟现实技术应用比较多的行业是游戏行业和教育行业。已经有少量的虚拟现实技术应用于医疗领域，但用在康复医学领域的虚拟现实技术还比较少。目前康复医学领域少量的虚拟现实技术还停留在游戏级的层面，既无沉侵感，交互性也不强。瘫痪病人是一个特殊群体，他们有不同程度的运动障碍，如若简单的把目前市场上的游戏引进康复领域，则无法达到康复医学与智能新技术结合提高康复训练效果的目的。
发明内容
本发明的实施方式旨在至少解决现有技术中存在的技术问题之一。为此，本发明的实施方式需要提供一种基于虚拟现实的四肢康复训练方法与***。
本发明实施方式的基于虚拟现实的四肢康复训练方法，其特征在于，包括：
步骤1，创建患者的账户并在账户中录入患者个性化信息；
步骤2，设置运动角度评定模式；
步骤3，初始化基于虚拟现实的康复游戏，选择康复训练类别、康复训练模式、康复训练时间、康复训练场景难易程度类别；其中，康复训练类别至少包括两种，每种康复训练类别下的康复训练模式至少包括两个模式；每个康复训练模式下康复训练场景至少包括两种康复训练难易程度类别；
步骤4，实时评估患者利用康复游戏实施四肢康复训练的训练情况并给与患者反馈，在康复游戏结束后上传训练数据并生成评估报告；
步骤5，康复训练完成后将训练数据存储到本地数据库和云端数据库；确定 本地数据库的数据发生变化时，根据变化同步更新云端数据库，使得云端数据库和本地数据库保持一致；
步骤6，接收历史评估报告或训练成绩的查询请求，根据查询请求反馈相应的评估报告或训练成绩。
一种实施方式中，步骤3包括：
初始化基于虚拟现实的康复游戏，依据患者情况选择康复训练类别、康复训练模式、康复训练时间、康复训练场景难易程度类别；
其中，康复训练类别包括包括水平旋转类别、垂直摆动类别和立体综合类别；
康复训练模式包括单手训练模式和双手训练模式；
康复训练场景难易程度类别包括第一程度、第二程度和第三程度。
一种实施方式中，步骤4包括：
步骤41，上位机程序通过角度传感器采集患者利用康复游戏实施四肢康复训练时在左右方向旋转、上下方向摆动或踝关节运动的角度数据，依据角度数据绘制角度曲线趋势图供康复医师进行实时评估；
步骤42，虚拟现实程序接收上位机程序发送的角度数据，并依据角度数据驱动康复游戏中的物体运动，依据患者在康复游戏中训练情况给与反馈；
步骤43，虚拟现实程序在康复游戏结束后上传训练数据到上位机程序；
步骤44，上位机程序依据训练数据生成评估报告。
一种实施方式中，步骤42中包括：
虚拟现实程序接收上位机程序发送的角度数据，并依据角度数据驱动康复游戏中的物体运动；
依据患者在康复游戏中训练情况给与反馈具体如下：
若患者在康复游戏中未获得预定次数以上的游戏目标，则向患者发出用于加强获取游戏目标的提示；
和/或
若患者在康复游戏中目标完成情况符合预设的正面激励条件时，则向患者发 出正面激励的提示；其中，正面激励条件包括：连续获得预定次数以上的游戏目标、本次游戏得分超过上次游戏得分、获得本次游戏最高分或获得游戏历史记录最高分。
一种实施方式中，步骤44包括：
上位机程序依据预设的权重对训练数据进行计算获得训练分数，计算公式具体如下：
总分＝W1×U1+W2×U2+W3×U3+W4×U4
其中，预设的权重包括训练模式难易程度U1的权重W1、训练完成比例U2的权重W2、训练完成时间U3的权重W3和目标完成比例U4的权重W4；
U1在简单模式取值为60、一般模式取值为80、困难模式取值为100；
U2的取值为0～100％；
U3在少于或等于预设的总时间取值为100、在多于总时间5分钟以内取值
为80、在多于总时间5分钟以上取值为60；
U4的取值为0～100％；
然后上位机程序对训练分数及其他训练数据进行图形化处理，生成用于康复训练分析的评估报告，该报告包括上次训练分数、本次训练分数和最佳次训练分数的对比柱状图，以及上次训练、本次训练和最佳次训练的在左旋获得目标和右旋获得目标的饼状图。
本发明实施方式还同时提出一种基于虚拟现实的四肢康复训练***，其特征在于，包括：
账户模块，用于创建患者的账户并在账户中录入患者个性化信息；
设置模块，用于设置运动角度评定模式；
初始化模块，用于初始化基于虚拟现实的康复游戏，选择康复训练类别、康复训练模式、康复训练时间、康复训练场景难易程度类别；其中，康复训练类别至少包括两种，每种康复训练类别下的康复训练模式至少包括两个模式；每个康复训练模式下康复训练场景至少包括两种训练难易程度类别；
评估反馈模块，用于实时评估患者利用康复游戏实施四肢康复训练的训练情况并给与患者反馈，在康复游戏结束后上传训练数据并生成评估报告；
存储同步模块，用于在康复训练完成后将训练数据存储到本地数据库和云端数据库；确定本地数据库的数据发生变化时，根据变化同步更新云端数据库，使得云端数据库和本地数据库保持一致；
查询模块，用于接收历史评估报告或训练成绩的查询请求，根据查询请求反馈相应的评估报告或训练成绩。
一种实施方式中，初始化模块具体用于初始化基于虚拟现实的康复游戏，依据患者情况选择康复训练类别、康复训练模式、康复训练时间、康复训练场景难易程度类别；
其中，康复训练类别包括水平旋转类别、垂直摆动类别和立体综合类别；
康复训练模式包括单手训练模式和双手训练模式；
康复训练场景难易程度类别包括第一程度、第二程度和第三程度。
一种实施方式中，评估反馈模块包括上位机程序和虚拟现实程序，其中：
上位机程序，用于通过角度传感器采集患者利用康复游戏实施四肢康复训练时在左右方向旋转、上下方向摆动或踝关节运动的角度数据，依据角度数据绘制角度曲线趋势图供康复医师进行实时评估；
虚拟现实程序，用于接收上位机程序发送的角度数据，并依据角度数据驱动康复游戏中的物体运动，依据患者在康复游戏中训练情况给与反馈；
虚拟现实程序还用于在康复游戏结束后上传训练数据到上位机程序；
上位机程序还用于依据训练数据生成评估报告。
一种实施方式中，虚拟现实程序具体用于接收上位机程序发送的角度数据，并依据角度数据驱动康复游戏中的物体运动；
虚拟现实程序依据患者在康复游戏中训练情况给与反馈具体如下：
若患者在康复游戏中未获得预定次数以上的游戏目标，则向患者发出用于加强获取游戏目标的提示；
和/或
若患者在康复游戏中目标完成情况符合预设的正面激励条件时，则向患者发出正面激励的提示；其中，正面激励条件包括：连续获得预定次数以上的游戏目标、本次游戏得分超过上次游戏得分、获得本次游戏最高分或获得游戏历史记录最高分。
一种实施方式中，上位机程序具体用于依据预设的权重对训练数据进行计算获得训练分数，计算公式具体如下：
总分＝W1×U1+W2×U2+W3×U3+W4×U4
其中，预设的权重包括训练模式难易程度U1的权重W1、训练完成比例U2的权重W2、训练完成时间U3的权重W3和目标完成比例U4的权重W4；
U1在简单模式取值为60、一般模式取值为80、困难模式取值为100；
U2的取值为0～100％；
U3在少于或等于预设的总时间取值为100、在多于总时间5分钟以内取值
为80、在多于总时间5分钟以上取值为60；
U4的取值为0～100％；
然后上位机程序对训练分数及其他训练数据进行图形化处理，生成用于康复训练分析的评估报告，该报告包括上次训练分数、本次训练分数和最佳次训练分数的对比柱状图，以及上次训练、本次训练和最佳次训练的在左旋获得目标和右旋获得目标的饼状图。
本发明实施方式的基于虚拟现实的四肢康复训练方法与***，患者在充满娱乐性和趣味性的虚拟场景中，通过游戏方式实现四肢康复训练的同时，实现康复训练的即时评估与反馈，并且可以在基于虚拟现实的康复游戏中选择基于四肢康复设备的水平旋转、垂直摆动和立体综合三种训练类别，和每一种类别下的单手与双手操作的训练模式，创造出每一种训练模式下的难、中等、易等难易程度，最终形成基于虚拟场景的四肢康复精准康复训练方法，实现了康复 医学与虚拟现实技术的有效结合。
本发明的附加方面的优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。
附图说明
本发明的实施方式的上述和/或附加的方面和优点从结合下面附图对实施方式的描述中将变得明显和容易理解，其中：
图1是本发明实施方式的基于虚拟现实的四肢康复训练方法的流程示意图；
图2是本发明实施方式的基于虚拟现实的四肢康复训练***的组成示意图。
具体实施方式
下面详细描述本发明的实施方式，实施方式的示例在附图中示出，其中相同或类似的标号自始至终表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施方式是示例性的，仅可用于解释本发明的实施方式，而不能理解为对本发明的实施方式的限制。
请参阅图1和图2，本发明实施方式的基于虚拟现实的四肢康复训练方法，包括：
步骤1，创建患者的账户并在账户中录入患者个性化信息。
步骤2，设置运动角度评定模式。
步骤3，初始化基于虚拟现实的康复游戏，选择康复训练类别、康复训练模式、康复训练时间、康复训练场景难易程度类别；其中，康复训练类别至少包括两种，每种康复训练类别下的康复训练模式至少包括两个模式；每个康复训练模式下康复训练场景至少包括两种康复训练难易程度类别。
步骤4，实时评估患者利用康复游戏实施四肢康复训练的训练情况并给与患者反馈，在康复游戏结束后上传训练数据并生成评估报告。
步骤5，康复训练完成后将训练数据存储到本地数据库并同步到云端数据库。
步骤6，接收历史评估报告或训练成绩的查询请求，根据查询请求反馈相应的评估报告或训练成绩。
本发明实施方式还同时提出一种基于虚拟现实的四肢康复训练***，包括：账户模块、设置模块、初始化模块、评估反馈模块、存储同步模块和查询模块。其中，各个模块的介绍如下：
账户模块，用于创建患者的账户并在账户中录入患者个性化信息。
设置模块，用于设置运动角度评定模式。
初始化模块，用于初始化基于虚拟现实的康复游戏，选择康复训练类别、康复训练模式、康复训练时间、康复训练场景难易程度类别；其中，康复训练类别至少包括两种，每种康复训练类别下的康复训练模式至少包括两个模式；每个康复训练模式下康复训练场景至少包括两种训练难易程度类别。
评估反馈模块，用于实时评估患者利用康复游戏实施四肢康复训练的训练情况并给与患者反馈，在康复游戏结束后上传训练数据并生成评估报告。
存储同步模块，用于在康复训练完成后将训练数据存储到本地数据库并同步到云端数据库。
查询模块，用于接收历史评估报告或训练成绩的查询请求，根据查询请求反馈相应的评估报告或训练成绩。
在该实施方式中，基于虚拟现实的四肢康复训练方法以基于虚拟现实的四肢康复训练***作为步骤的执行对象，也可以以***内的各个模块作为步骤的执行对象。具体地，步骤1由账户模块作为步骤的执行对象，步骤2由设置模块作为步骤的执行对象，步骤3由初始化模块作为步骤的执行对象，步 骤4由评估与反馈模块作为步骤的执行对象，步骤5由存储同步模块作为步骤的执行对象，步骤6由查询模块作为步骤的执行对象。
本发明可以与申请号为201620862401.2的中国实用新型《上肢康复训练设备及其虚拟现实训练***》配合使用，即以上肢康复训练设备及其虚拟现实训练***作为康复训练的硬件设施，来实现本发明实施方式的基于虚拟现实的四肢康复训练方法。
在步骤1中，账户模块创建患者的账户并在账户中录入患者个性化信息。个性化信息通常包括患者的个人信息、患者主诉及病程信息。即账户模块可以创建患者的账户，然后通过编辑并保存用户的个人信息，例如姓名、性别、年龄、地址、联系电话等；以及患者的主诉及病程信息，例如患者自述自己的症状或(和)体征、性质，以及持续时间等内容，康复医师作出的康复训练过程等。如果患者已经体验过康复游戏，则对于该康复游戏的设置信息也属于该患者个性化信息的一部分，账户模块保证该患者下次进入该康复游戏的时候默认选择上次保存的设置。
在步骤2中，设置模块设置运动角度评定模式。综合运动角度评定是后续康复训练的基础；康复训练游戏将依据用户角度评定的结果来进行游戏规划，用游戏的方法来引导用户进行最大活动角度的运动，达到康复训练效果的最佳化；例如在飞机游戏中，目标按患者评定上抬下压的最大角度有规律排布，从而使患者在康复训练中能达到最优康复效果。
设置模块可以通过图形界面显示的方式向康复医师显示康复训练的运动角度评定模式，在康复医师根据患者情况以鼠标点击、触摸等方式来实现运动角度评定模式的设置。具体地，运动角度评定模式包括双手评定模式、左手评定模式或右手评定模式，该运动角度评定模式用于左右旋转角度、上抬下压角度或踝关节运动角度的评定。设置模块根据康复医师的选择确定本次康复训练的 运动角度评定模式设置。
在步骤3中，初始化模块初始化基于虚拟现实的康复游戏，选择康复训练类别、康复训练模式、康复训练时间、康复训练场景难易程度类别；其中，康复训练类别至少包括两种，每种康复训练类别下的康复训练模式至少包括两个模式；每个康复训练模式下康复训练场景至少包括两种康复训练难易程度类别。
具体地，步骤3包括：初始化基于虚拟现实的康复游戏，依据患者情况选择康复训练类别、康复训练模式、康复训练时间、康复训练场景难易程度类别；
其中，康复训练类别包括水平旋转类别、垂直摆动类别和立体综合类别；
康复训练模式包括单手训练模式、双手训练模式；
康复训练场景难易程度类别包括第一程度、第二程度和第三程度。训练难易程度中第一程度可以为困难程度、第二程度可以为中等程度、第三程度可以为容易程度。
不同患者的情况不同，该康复训练需求也不同，这需要精准康复的实现。本发明让患者在虚拟化的游戏环境中进行康复训练，既能让患者感到新奇有趣、心情愉悦，又能达到既定的康复训练目的。
其中，水平旋转类别可以利用赛车训练游戏和捕鱼达人训练游戏来完成水平方向的康复训练；垂直摆动类别可以利用星际航行训练游戏和大鱼吃小鱼训练游戏来完成垂直方向的康复训练；立体综合类别可以使用娃娃机训练游戏和跑酷训练游戏来完成全方向的康复训练。
在步骤4中，评估反馈模块实时评估患者利用康复游戏实施四肢康复训练的训练情况并给与患者反馈，在康复游戏结束后上传训练数据并生成评估报告。即根据患者康复瘫痪程度实施精准的四肢康复训练，由上位机程序实时采集康复训练时的角度数据，与康复训练的虚拟现实游戏进行交互，完成实时评估和即时运动反馈；并在游戏结束后上位机程序自动分析训练数据，自动生成训练结果报告。
具体地，步骤4包括：
步骤41，上位机程序通过角度传感器采集患者利用康复游戏实施四肢康复训练时在左右方向旋转、上下方向摆动或踝关节运动的角度数据，依据角度数据绘制角度曲线趋势图供康复医师进行实时评估。即角度数据一方面传送给虚拟现实程序用来驱动游戏物体运动，一方面在上位机程序的界面中依据角度数据和数据的变化绘制角度曲线趋势图供康复医师进行实时评估。
步骤42，虚拟现实程序接收上位机程序发送的角度数据，并依据角度数据驱动康复游戏中的物体运动，依据患者在康复游戏中训练情况给与反馈。练过程中，虚拟现实程序将接收到的角度数据转化为游戏物体的驱动数据，例如汽车游戏中患者在训练平台上向左转动时，赛车就会向左等比例转动，这样就把患者带入到游戏中，使患者沉浸于虚拟现实中完成特定的康复训练。在康复训练过程中，提供即时评估和反馈，若患者连续完成目标，则会有鼓励语，对患者形成正向激励；若患者连续完成不了目标，则给予提醒与激励，指示患者如何改变操作完成目标，完成游戏。
具体地，步骤42中包括：
虚拟现实程序接收上位机程序发送的角度数据，并依据角度数据驱动康复游戏中的物体运动。
依据患者在康复游戏中训练情况给与反馈具体如下：
(A)、若患者在康复游戏中未获得预定次数以上的游戏目标，则向患者发出用于加强获取游戏目标的提示。
(B)、若患者在康复游戏中目标完成情况符合预设的正面激励条件时，则向患者发出正面激励的提示；其中，正面激励条件包括：连续获得预定次数以上的游戏目标、本次游戏得分超过上次游戏得分、获得本次游戏最高分或获得游戏历史记录最高分。
虚拟现实程序接收上位机程序下发的角度数据，驱动游戏物体做左右或上下运动，以获得目标或规避目标，根据目标完成的情况得到相应的分数。可以由康复医师依据康复训练要求预先设置游戏目标的数量和摆放位置，例如患者在 虚拟现实程序中体现汽车前进撞击金币这个康复游戏，通常金币会被设置于汽车行进道路的中央，但如果需要加强患者在左右方向的康复训练，则可以通过将全部或者部分金币这个游戏目标分别设置于道路的左侧、右侧，或者金币在左侧、中央、右侧交错分布设置；另外，也可以通过增加游戏目标的数量或密度，增加康复训练的强度或难度；以此2种方法达到游戏目标的摆放位置的自定义过程。然后患者体验康复游戏的过程中会带动角度传感器的变化，虚拟现实程序根据角度数据驱动康复游戏中的物体，例如汽车撞击金币的康复游戏中汽车在左右方向运动撞击道路侧面的金币，或者大鱼吃小鱼的康复游戏中大鱼在上下方向运动去捕捉小鱼。
一种情况中，若患者在康复游戏中未获得预定次数以上的游戏目标，则向患者发出用于获取游戏目标的提示。即以预定次数是3次，游戏目标是位于道路左侧或者右侧需要撞击的金币为例，如果患者在汽车撞击金币的康复游戏中驾驶汽车连续3次以上未能撞击金币成功，则视为未获得游戏目标，此时评估与反馈单元可以通过语音或者字幕等方式来提示患者“请向左/右方向用力”。
另一种情况中，若患者在康复游戏中目标完成情况符合预设的正面激励条件时，则向患者发出正面激励的提示；其中，正面激励条件包括：连续获得预定次数以上的游戏目标、本次游戏得分超过上次游戏得分、获得本次游戏最高分或获得游戏历史记录最高分。即以预定次数是3次，游戏目标是位于道路左侧或者右侧需要撞击的金币为例，如果患者连续3次撞击获得道路左侧或右侧的金币，此时评估与反馈单元可以通过语音或者字幕等方式来提示患者“你真棒”。若患者本次驾驶汽车撞击金币的得分超过上次游戏得分，则评估与反馈单元可以通过语音或者字幕等方式来提示“恭喜您，更进一步！”。若患者在汽车撞击金币的训练获得的游戏分数超过游戏中的其他玩家角色，获得本次游戏最高分，或者患者本次驾驶汽车撞击金币的得分是游戏历史记录的最高分，则评估与反 馈单元可以通过语音或者字幕等方式来提示“恭喜您，成为本游戏最高分得主！”。通过这样的方式，游戏的即时评估与反馈能即时反馈患者的表现情况，并及时从精神上鼓励与激励患者。
步骤43，虚拟现实程序在康复游戏结束后上传训练数据到上位机程序。虚拟现实程序向上位机程序上传本次训练的训练完成情况、训练完成时间、目标完成情况等数据；上位机程序通过一定的算法得出患者训练的分数，并生成直观的柱状图：上次、本次、最佳次得分对比柱状图；同时生成本次、上次、最佳次各自总分数比较和各自完成目标情况比较，以及具体本次上肢左右旋(或上抬下压)障碍情况分析等等。
步骤44，上位机程序依据训练数据生成评估报告。
具体地，步骤44包括：
上位机程序依据预设的权重对训练数据进行计算获得训练分数，计算公式具体如下：
总分＝W1×U1+W2×U2+W3×U3+W4×U4
其中，预设的权重包括训练模式难易程度U1的权重W1、训练完成比例U2的权重W2、训练完成时间U3的权重W3和目标完成比例U4的权重W4。
U1在简单模式取值为60、一般模式取值为80、困难模式取值为100。
U2的取值为0～100％。
U3在少于或等于预设的总时间取值为100、在多于总时间5分钟以内取值为80、在多于总时间5分钟以上取值为60。
U4的取值为0～100％。
然后上位机程序对训练分数及其他训练数据进行图形化处理，生成用于康复训练分析的评估报告，该报告包括上次训练分数、本次训练分数和最佳次训练分数的对比柱状图，以及上次训练、本次训练和最佳次训练的在左旋获得目标和右旋获得目标的饼状图。
由于四肢康复训练中最难的是上肢康复训练，本方案采用了较为客观合理的的上肢康训练评估权重算法。设定的康复训练评估指标包括：
训练模式难易程度U1的权重W1
训练完成比例U2的权重W2
训练完成时间U3的权重W3
目标完成比例U4的权重W4
然后采用层次分析法来两两比较同一层次的指标，用1-9标度法来表示其比较的结果。
各个级别的标度含义如表1所示。
Figure PCTCN2018109364-appb-000001
表1
本发明实施方式依据层次分析法确定的比较结果和权重取值如表2所示。
Figure PCTCN2018109364-appb-000002
表2
表2是本发明应用层次分析法的判断矩阵，结合上述1-9标度一起来看。如果元素i和元素j的重要性之比为a ij，则元素j和元素i的重要性之比为
Figure PCTCN2018109364-appb-000003
例如，第二行和第三列交叉的1/2，是指U2训练完成比例和U3训练完成时间的因素重要性比较；1是指两个因素同样重要，2是指介于同样重要与稍重要之间；选择哪个标度根据实际需要判断，其正确性可以通过一致性检验来验证。
具体地，计算单元依据预设的权重对目标数据进行计算获得训练分数的公式如下：
总分＝0.0667*U1+0.1086*U2+0.1778*U3+0.6469*U4
其中，U1在简单模式取值为60、一般模式取值为80、困难模式取值为100。
U2的取值为0～100％。
U3在少于或等于预设的总时间取值为100、在多于总时间5分钟以内取值为80、在多于总时间5分钟以上取值为60。
U4的取值为0～100％。
通过上述计算，可以获得本次康复训练的分数。
在步骤5中，存储同步模块，用于在康复训练完成后将训练数据存储到本地数据库和云端数据库；确定本地数据库的数据发生变化时，根据变化同步更新云端数据库，使得云端数据库和本地数据库保持一致。
即存储同步模块可以实时或者按照预定时间间隔定时检测本地数据库的数据是否发生变化，在发生变化的时候，根据变化同步更新云端数据库，使得云端数据库的数据和本地数据库保持一致。例如，存储同步模块检测本地数据库的数据有所增加，则可以将增加的部分数据同步增加到云端数据库；或者存储同步模块检测本地数据库的数据有所删减，则由云端数据库根据删减的部分在云端删减相应的部分。无论是增加还是删减，同步更新的目的是为了实现云端数据库的数据和本地数据库保持一致；既可以完成数据备份的工作，也可以保证数据的互联网访问，增加数据的开放性。
在步骤6中，查询模块接收历史评估报告或训练成绩的查询请求，根据查询请求反馈相应的评估报告或训练成绩。
一种情况下，康复医师需要查看某患者的康复训练相关数据，则会在上位机程序的显示界面中，通过点击、滑选、语音输入等方式在评估报告的列表中选择相应的报告，查询模块则根据上位机程序的操作视为接收到历史评估报告的 查询请求，然后通过调取本地数据库的数据获得相应的评估报告并反馈给上位机程序中，由上位机程序在显示界面中显示相应的评估报告。
一种情况下，患者需要查看本人的训练成绩，则可以预先通过账户模块在个性化信息中录入本人的微信联系方式，完成微信账户与康复训练账户的绑定，然后患者本人利用手机微信发出训练成绩查询请求，查询模块则从云端数据库中调取该患者指定某个训练次数的训练成绩或者该患者的全部历史训练成绩，将调取的结果反馈给患者，使患者可以在手机上查看自己的训练成绩。
本发明实施方式的基于虚拟现实的四肢康复训练方法与***，患者在充满娱乐性和趣味性的虚拟场景中，通过游戏方式实现四肢康复训练的同时，实现康复训练的即时评估与反馈，并且可以在基于虚拟现实的康复游戏中选择基于四肢康复设备的水平旋转、垂直摆动和立体综合三种训练类别，和每一种类别下的单手与双手操作的训练模式，创造出每一种训练模式下的难、中等、易等难易程度，最终形成基于虚拟场景的四肢康复精准康复训练方法，实现了康复医学与虚拟现实技术的有效结合。
在本发明的实施方式的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明的实施方式和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的实施方式的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者 隐含地包括一个或者更多个所述特征。在本发明的实施方式的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明的实施方式的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接或可以相互通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明的实施方式中的具体含义。
在本发明的实施方式中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
下文的公开提供了许多不同的实施方式或例子用来实现本发明的实施方式的不同结构。为了简化本发明的实施方式的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本发明。此外，本发明的实施方式可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本发明的实施方式提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。
在本说明书的描述中，参考术语“一个实施方式”、“一些实施方式”、“示意性实施方式”、“示例”、“具体示例”或“一些示例”等的描述意 指结合所述实施方式或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施方式或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施方式或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施方式或示例中以合适的方式结合。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本发明的优选实施方式的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本发明的实施例所属技术领域的技术人员所理解。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行***、装置或设备(如基于计算机的***、包括处理模块的***或其他可以从指令执行***、装置或设备取指令并执行指令的***)使用，或结合这些指令执行***、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行***、装置或设备或结合这些指令执行***、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
应当理解，本发明的实施方式的各部分可以用硬件、软件、固件或它们 的组合来实现。在上述实施方式中，多个步骤或方法可以用存储在存储器中且由合适的指令执行***执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施方式中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解实现上述实施例方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
此外，在本发明的各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。
上述提到的存储介质可以是只读存储器，磁盘或光盘等。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (10)

  1. 一种基于虚拟现实的四肢康复训练方法，其特征在于，包括：
    步骤1，创建患者的账户并在账户中录入患者个性化信息；
    步骤2，设置运动角度评定模式；
    步骤3，初始化基于虚拟现实的康复游戏，选择康复训练类别、康复训练模式、康复训练时间、康复训练场景难易程度类别；其中，康复训练类别至少包括两种，每种康复训练类别下的康复训练模式至少包括两个模式；每个康复训练模式下康复训练场景至少包括两种康复训练难易程度类别；
    步骤4，实时评估患者利用康复游戏实施四肢康复训练的训练情况并给与患者反馈，在康复游戏结束后上传训练数据并生成评估报告；
    步骤5，康复训练完成后将训练数据存储到本地数据库和云端数据库；确定本地数据库的数据发生变化时，根据变化同步更新云端数据库，使得云端数据库和本地数据库保持一致；
    步骤6，接收历史评估报告或训练成绩的查询请求，根据查询请求反馈相应的评估报告或训练成绩。
  2. 如权利要求1所述基于虚拟现实的四肢康复训练方法，其特征在于，步骤3包括：
    初始化基于虚拟现实的康复游戏，依据患者情况选择康复训练类别、康复训练模式、康复训练时间、康复训练场景难易程度类别；
    其中，康复训练类别包括水平旋转类别、垂直摆动类别和立体综合类别；
    康复训练模式包括单手训练模式、双手训练模式；
    康复训练场景难易程度类别包括第一程度、第二程度和第三程度。
  3. 如权利要求2所述基于虚拟现实的四肢康复训练方法，其特征在于，步骤4包括：
    步骤41，上位机程序通过角度传感器采集患者利用康复游戏实施四肢康复训练时在左右方向旋转、上下方向摆动或踝关节运动的角度数据，依据角度数 据绘制角度曲线趋势图供康复医师进行实时评估；
    步骤42，虚拟现实程序接收上位机程序发送的角度数据，并依据角度数据驱动康复游戏中的物体运动，依据患者在康复游戏中训练情况给与反馈；
    步骤43，虚拟现实程序在康复游戏结束后上传训练数据到上位机程序；
    步骤44，上位机程序依据训练数据生成评估报告。
  4. 如权利要求1所述基于虚拟现实的四肢康复训练方法，其特征在于，步骤42中包括：
    虚拟现实程序接收上位机程序发送的角度数据，并依据角度数据驱动康复游戏中的物体运动；
    依据患者在康复游戏中训练情况给与反馈具体如下：
    若患者在康复游戏中未获得预定次数以上的游戏目标，则向患者发出用于加强获取游戏目标的提示；
    和/或
    若患者在康复游戏中目标完成情况符合预设的正面激励条件时，则向患者发出正面激励的提示；其中，正面激励条件包括：连续获得预定次数以上的游戏目标、本次游戏得分超过上次游戏得分、获得本次游戏最高分或获得游戏历史记录最高分。
  5. 如权利要求4所述基于虚拟现实的四肢康复训练方法，其特征在于，步骤44包括：
    上位机程序依据预设的权重对训练数据进行计算获得训练分数，计算公式具体如下：
    总分＝W1×U1+W2×U2+W3×U3+W4×U4
    其中，预设的权重包括训练模式难易程度U1的权重W1、训练完成比例U2的权重W2、训练完成时间U3的权重W3和目标完成比例U4的权重W4；
    U1在简单模式取值为60、一般模式取值为80、困难模式取值为100；
    U2的取值为0～100％；
    U3在少于或等于预设的总时间取值为100、在多于总时间5分钟以内取值为80、在多于总时间5分钟以上取值为60；
    U4的取值为0～100％；
    然后上位机程序对训练分数及其他训练数据进行图形化处理，生成用于康复训练分析的评估报告，该报告包括上次训练分数、本次训练分数和最佳次训练分数的对比柱状图，以及上次训练、本次训练和最佳次训练的在左旋获得目标和右旋获得目标的饼状图。
  6. 一种基于虚拟现实的四肢康复训练***，其特征在于，包括：
    账户模块，用于创建患者的账户并在账户中录入患者个性化信息；
    设置模块，用于设置运动角度评定模式；
    初始化模块，用于初始化基于虚拟现实的康复游戏，选择康复训练类别、康复训练模式、康复训练时间、康复训练场景难易程度类别；其中，康复训练类别至少包括两种，每种康复训练类别下的康复训练模式至少包括两个模式；每个康复训练模式下康复训练场景至少包括两种训练难易程度类别；
    评估反馈模块，用于实时评估患者利用康复游戏实施四肢康复训练的训练情况并给与患者反馈，在康复游戏结束后上传训练数据并生成评估报告；
    存储同步模块，用于在康复训练完成后将训练数据存储到本地数据库和云端数据库；确定本地数据库的数据发生变化时，根据变化同步更新云端数据库，使得云端数据库和本地数据库保持一致；
    查询模块，用于接收历史评估报告或训练成绩的查询请求，根据查询请求反馈相应的评估报告或训练成绩。
  7. 如权利要求6所述基于虚拟现实的四肢康复训练***，其特征在于，初始化模块具体用于初始化基于虚拟现实的康复游戏，依据患者情况选择康复训练类别、康复训练模式、康复训练时间、康复训练场景难易程度类别；
    其中，康复训练类别包括水平旋转类别、垂直摆动类别和立体综合类别；
    康复训练模式包括单手训练模式、双手训练模式；
    康复训练场景难易程度类别包括第一程度、第二程度和第三程度。
  8. 如权利要求7所述基于虚拟现实的四肢康复训练***，其特征在于，评估反馈模块包括上位机程序和虚拟现实程序，其中：
    上位机程序，用于通过角度传感器采集患者利用康复游戏实施四肢康复训练时在左右方向旋转、上下方向摆动或踝关节运动的角度数据，依据角度数据绘制角度曲线趋势图供康复医师进行实时评估；
    虚拟现实程序，用于接收上位机程序发送的角度数据，并依据角度数据驱动康复游戏中的物体运动，依据患者在康复游戏中训练情况给与反馈；
    虚拟现实程序还用于在康复游戏结束后上传训练数据到上位机程序；
    上位机程序还用于依据训练数据生成评估报告。
  9. 如权利要求6所述基于虚拟现实的四肢康复训练***，其特征在于，虚拟现实程序具体用于接收上位机程序发送的角度数据，并依据角度数据驱动康复游戏中的物体运动；
    虚拟现实程序依据患者在康复游戏中训练情况给与反馈具体如下：
    若患者在康复游戏中未获得预定次数以上的游戏目标，则向患者发出用于加强获取游戏目标的提示；
    和/或
    若患者在康复游戏中目标完成情况符合预设的正面激励条件时，则向患者发出正面激励的提示；其中，正面激励条件包括：连续获得预定次数以上的游戏目标、本次游戏得分超过上次游戏得分、获得本次游戏最高分或获得游戏历史记录最高分。
  10. 如权利要求9所述基于虚拟现实的四肢康复训练***，其特征在于，上位机程序具体用于依据预设的权重对训练数据进行计算获得训练分数，计算公式具体如下：
    总分＝W1×U1+W2×U2+W3×U3+W4×U4
    其中，预设的权重包括训练模式难易程度U1的权重W1、训练完成比例U2 的权重W2、训练完成时间U3的权重W3和目标完成比例U4的权重W4；
    U1在简单模式取值为60、一般模式取值为80、困难模式取值为100；
    U2的取值为0～100％；
    U3在少于或等于预设的总时间取值为100、在多于总时间5分钟以内取值为80、在多于总时间5分钟以上取值为60；
    U4的取值为0～100％；
    然后上位机程序对训练分数及其他训练数据进行图形化处理，生成用于康复训练分析的评估报告，该报告包括上次训练分数、本次训练分数和最佳次训练分数的对比柱状图，以及上次训练、本次训练和最佳次训练的在左旋获得目标和右旋获得目标的饼状图。
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CN109692457A (zh) * 2019-02-28 2019-04-30 焦作大学 一种虚拟现实康复训练***及控制方法
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