技术领域technical field
本发明涉及医疗健康技术领域，具体而言，尤其涉及一种应用虚拟现实技术的上肢康复训练系统及方法。The present invention relates to the field of medical and health technologies, in particular, to an upper limb rehabilitation training system and method using virtual reality technology.
背景技术Background technique
神经创伤如创伤性脑损伤，脊髓损伤，中风等脑血管疾病是人们身体残疾的主要原因。患有脑损伤、脊髓损伤的病人一般会失去对身体上肢部分的控制。为了让有上肢运动障碍的病人获得最好的康复效果，康复训练就必须要有针对性和挑战性。同时，康复训练是一个艰苦的过程，患者重复坚持才会有效。因此，如何让患者在训练时不感到枯燥也是十分重要的。目前，康复疗法除了传统的依靠康复治疗师对患者进行手把手的训练外，还有一些患者采用康复机器人来进行辅助训练。然而这些康复训练方法都有着明显的缺点：患者只能简单地被动参与康复训练，过程非常枯燥乏味。因此，患者参与训练的主动性、积极性不强，训练的效果不理想。同时，一名康复治疗师无法同时对多名患者进行康复训练，极大地浪费了人力、物力。Neurological trauma such as traumatic brain injury, spinal cord injury, stroke and other cerebrovascular diseases are the leading causes of physical disability in people. Patients with brain injuries, spinal cord injuries generally lose control of upper body parts. In order for patients with upper limb movement disorders to obtain the best rehabilitation results, rehabilitation training must be targeted and challenging. At the same time, rehabilitation training is an arduous process, and patients will only be effective if they persist repeatedly. Therefore, how to keep patients from feeling bored during training is also very important. At present, in addition to the traditional rehabilitation therapist to provide hands-on training to patients, some patients also use rehabilitation robots for auxiliary training. However, these rehabilitation training methods have obvious disadvantages: patients can only simply passively participate in rehabilitation training, and the process is very boring. Therefore, the initiative and enthusiasm of patients to participate in training are not strong, and the effect of training is not ideal. At the same time, a rehabilitation therapist cannot perform rehabilitation training for multiple patients at the same time, which greatly wastes manpower and material resources.
虚拟现实技术简称VR技术，也称灵镜技术或人工环境。其最早产生于20世纪60年代，Sutherland首次提出包括交互图形显示、力反馈装置以及声音提示的虚拟现实系统的基本思想。虚拟现实技术利用计算机来模拟产生一个三维空间的虚拟世界，为用户提供关于视觉等感官的模拟，让使用者能够即时、没有限制地观察三维空间内的事物。基于功能性磁共振成像的研究显示，基于虚拟现实技术的训练康复系统可以诱导中风患者的大脑皮质进行重组。Virtual reality technology is referred to as VR technology, also known as spiritual mirror technology or artificial environment. It was first produced in the 1960s. Sutherland first proposed the basic idea of a virtual reality system including interactive graphic display, force feedback device and sound prompt. Virtual reality technology uses computers to simulate a three-dimensional virtual world, providing users with simulations of vision and other senses, allowing users to observe things in three-dimensional space instantly and without limitation. Studies based on functional magnetic resonance imaging have shown that training and rehabilitation systems based on virtual reality technology can induce cerebral cortex reorganization in stroke patients.
发明内容SUMMARY OF THE INVENTION
根据上述提出现有技术针对上肢康复训练枯燥乏味的技术问题，而提供一种应用虚拟现实技术的上肢康复训练系统及方法。本发明主要利用虚拟现实技术为康复训练提供重复的练习和实时的反馈，使患者具有较强的沉浸感，提高患者进行康复训练的积极性，使患者愿意主动参与康复训练，进而提升康复训练的效率及效果，缩短患者的康复训练时间。According to the above mentioned prior art, aiming at the boring technical problem of upper limb rehabilitation training, an upper limb rehabilitation training system and method using virtual reality technology is provided. The present invention mainly uses virtual reality technology to provide repeated exercises and real-time feedback for rehabilitation training, so that patients have a strong sense of immersion, improve the enthusiasm of patients for rehabilitation training, and make patients willing to actively participate in rehabilitation training, thereby improving the efficiency of rehabilitation training And the effect, shorten the rehabilitation training time of patients.
本发明采用的技术手段如下：The technical means adopted in the present invention are as follows:
一种应用虚拟现实技术的上肢康复训练系统，包括：An upper limb rehabilitation training system applying virtual reality technology, comprising:
手部运动数据采集模块，采用Leap Motion红外探测设备；Hand motion data acquisition module, using Leap Motion infrared detection equipment;
游戏引擎模块，采用Unity引擎以及PhysX物理引擎；Game engine module, using Unity engine and PhysX physics engine;
交互引擎模块，采用Leap Motion的Interaction Engine；The interaction engine module adopts Leap Motion's Interaction Engine;
虚拟现实设备模块，采用PC端显示器或HTC Vive、OCulus虚拟现实头显设备；The virtual reality device module adopts PC-side monitor or HTC Vive, OCulus virtual reality head-mounted display device;
所述手部运动数据采集模块采集追踪患者运动时的手部动作，并将其同步至所述游戏引擎模块，将患者的手部动作信息复现在所述虚拟现实设备模块的虚拟环境中，再通过交互引擎模块实现患者的手部动作对游戏中物体的操作。The hand movement data collection module collects and tracks the hand movement of the patient, and synchronizes it to the game engine module, reproduces the patient's hand movement information in the virtual environment of the virtual reality device module, and then Through the interaction engine module, the operation of the patient's hand movements on the objects in the game is realized.
进一步地，所述虚拟现实设备模块的游戏设计了针对性的训练关卡，所述训练关卡涉及不同的任务目标，训练关卡的难度循序渐进。Further, the game of the virtual reality equipment module is designed with targeted training levels, the training levels involve different mission objectives, and the difficulty of the training levels is gradually increased.
进一步地，所述Leap Motion红外探测设备可以在追踪患者的手部动作时，不用给患者穿戴其他器件，免去额外的手部负担。Further, the Leap Motion infrared detection device can track the patient's hand movements without wearing other devices on the patient, thus eliminating additional hand burden.
本发明还提供了一种应用虚拟现实技术的上肢康复训练方法，包括如下步骤：The present invention also provides a method for upper limb rehabilitation training using virtual reality technology, comprising the steps of:
步骤S1：安装并调试好手部追踪的Leap Motion红外探测设备，使Leap Motion红外探测设备可以准确追踪患者手部动作并将相关动作信息正确传入游戏引擎模块；Step S1: Install and debug the Leap Motion infrared detection device for hand tracking, so that the Leap Motion infrared detection device can accurately track the patient's hand movements and correctly transmit the relevant movement information to the game engine module;
步骤S2：通过游戏引擎模块将患者的手部动作信息复现在所述虚拟现实设备模块的虚拟环境中；Step S2: reproduce the patient's hand movement information in the virtual environment of the virtual reality device module through the game engine module;
步骤S3：通过手部运动数据采集模块采集患者的上肢运动数据，并判断患者的运动是否达到康复标准，若达到康复标准，则将患者的上肢运动数据传输至交互引擎模块，通过交互引擎模块使患者的上肢动作实现对虚拟环境中物体的操作；Step S3: collect the patient's upper limb movement data through the hand movement data acquisition module, and judge whether the patient's movement meets the rehabilitation standard. The patient's upper limb movements realize the operation of objects in the virtual environment;
步骤S4：若患者达成了虚拟环境中预先设定的一系列任务目标，则康复训练结束。Step S4: If the patient has achieved a series of pre-set task goals in the virtual environment, the rehabilitation training ends.
进一步地，所述步骤S4还包括如下步骤：Further, the step S4 also includes the following steps:
步骤S41：在完成任务目标过程中，若患者的手部动作未完成指定要求，触发失败特效，则训练关卡复位，患者进行重新挑战；Step S41: In the process of completing the task goal, if the patient's hand movement does not meet the specified requirements, the failure effect is triggered, the training level is reset, and the patient challenges again;
步骤S42：在完成任务目标过程中，若患者的手部动作完成指定要求，触发通关特效，将自动载入新的训练关卡；Step S42: In the process of completing the task goal, if the patient's hand movements meet the specified requirements, the special effect of customs clearance will be triggered, and a new training level will be automatically loaded;
较现有技术相比，本发明具有以下优点：Compared with the prior art, the present invention has the following advantages:
1、本发明提供的应用虚拟现实技术的上肢康复训练系统，通过为患者设计针对性的训练关卡，让患者在游戏中得到针对性训练，提高患者训练康复的效率。1. The upper limb rehabilitation training system using virtual reality technology provided by the present invention allows patients to receive targeted training in the game by designing targeted training levels for patients, and improves the efficiency of patient training and rehabilitation.
2、本发明主要利用虚拟现实技术为康复训练提供重复的练习和实时的反馈，使患者具有较强的沉浸感，提高患者进行康复训练的积极性，使患者愿意主动参与康复训练，进而提升康复训练的效率及效果，缩短患者的康复训练时间。2. The present invention mainly uses virtual reality technology to provide repeated exercises and real-time feedback for rehabilitation training, so that patients have a strong sense of immersion, improve the enthusiasm of patients for rehabilitation training, and make patients willing to actively participate in rehabilitation training, thereby improving rehabilitation training Efficiency and effect, shorten the rehabilitation training time of patients.
3、研究表明，偏瘫患者的上肢功能的康复训练应该在积极的环境下进行，被动或不积极的训练，对患者脑功能重塑和手部运动功能的康复效果很不明显。本发明提供的上肢康复训练系统可以使偏瘫患者在积极的环境下进行正确的手部康复训练，加快患者脑功能重塑和手部运动功能恢复，使患者达到了良好的康复效果。3. Studies have shown that the rehabilitation training of upper limb function of hemiplegic patients should be carried out in a positive environment. Passive or inactive training has little effect on the rehabilitation of brain function remodeling and hand motor function. The upper limb rehabilitation training system provided by the present invention can enable hemiplegia patients to perform correct hand rehabilitation training in a positive environment, speed up the remodeling of the brain function of the patient and the recovery of hand motor function, and enable the patient to achieve a good rehabilitation effect.
4、基于功能性磁共振成像的研究显示，基于本发明提供的上肢康复训练系统可以诱导中风患者的大脑皮质进行重组。也有研究表明，对患者来说，应用本发明提供的上肢康复训练系统会比传统的上肢康复系统更加有效，应用虚拟现实上肢康复技术的患者会较使用传统康复系统的患者在上肢功能障碍方面得到更好的恢复，相关的运动能力变得更强。4. Research based on functional magnetic resonance imaging shows that the upper limb rehabilitation training system based on the present invention can induce cerebral cortex reorganization in stroke patients. There are also studies that show that for patients, the application of the upper limb rehabilitation training system provided by the present invention will be more effective than the traditional upper limb rehabilitation system, and the patients using the virtual reality upper limb rehabilitation technology will be more effective in upper limb dysfunction than patients using the traditional rehabilitation system. With better recovery, the associated athletic abilities become stronger.
基于上述理由本发明可在医疗健康等领域广泛推广。Based on the above reasons, the present invention can be widely promoted in fields such as medical care and health.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图做以简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to these drawings without any creative effort.
图1为本发明系统流程图。Fig. 1 is a flow chart of the system of the present invention.
图2为本发明实施例手部追踪场景。Fig. 2 is a scene of hand tracking according to an embodiment of the present invention.
图3为本发明实施例游戏场景一。Fig. 3 is the first game scene of the embodiment of the present invention.
图4为本发明实施例游戏失败场景。Fig. 4 is a game failure scene according to the embodiment of the present invention.
图5为本发明实施例游戏通关场景。Fig. 5 is a game clearance scene of the embodiment of the present invention.
图6为本发明实施例游戏场景二。Fig. 6 is the second game scene of the embodiment of the present invention.
具体实施方式Detailed ways
需要说明的是，在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本发明。It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is only some embodiments of the present invention, but not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本发明的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。It should be noted that the terminology used here is only for describing specific embodiments, and is not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.
实施例1Example 1
本发明提供了一种应用虚拟现实技术的上肢康复训练系统，包括：The invention provides an upper limb rehabilitation training system using virtual reality technology, comprising:
手部运动数据采集模块，采用Leap Motion红外探测设备；Leap Motion红外探测设备具有高精准度和高跟踪帧率，其工作范围在设备前方的2.5cm-0.6m，即使在距离较近的情况下也可以识别患者的上肢乃至手部的精细动作，满足系统所需的上肢数据采集要求，同时考虑到患者的身体情况，Leap Motion红外探测设备可以在追踪患者的手部动作时，不用给患者穿戴其他器件，免去额外的手部负担；The hand movement data acquisition module adopts Leap Motion infrared detection equipment; Leap Motion infrared detection equipment has high precision and high tracking frame rate, and its working range is 2.5cm-0.6m in front of the equipment, even at a relatively short distance It can also identify the fine movements of the patient's upper limbs and even the hands to meet the upper limb data collection requirements required by the system. At the same time, taking into account the patient's physical condition, the Leap Motion infrared detection device can track the patient's hand movements without wearing them. Other devices, eliminating additional hand burden;
游戏引擎模块，采用Unity引擎以及PhysX物理引擎；通过Unity引擎可以提供出色的三维效果以及物理效果，同时借由PhysX物理引擎，使得虚拟环境中物体的运动更加符合现实世界中的物理规律，使用者的沉浸感得到较大的提升；The game engine module adopts the Unity engine and the PhysX physics engine; the Unity engine can provide excellent three-dimensional effects and physical effects, and at the same time, the PhysX physics engine makes the movement of objects in the virtual environment more in line with the physical laws in the real world. The sense of immersion has been greatly improved;
交互引擎模块，采用Leap Motion的Interaction Engine；本实施例中，所选用的交互引擎可以让患者通过这一引擎能够完成对虚拟环境中的物体进行抓握、抛扔等一系列日常生活中所需的上肢动作，满足系统开发需求；The interactive engine module adopts the Interaction Engine of Leap Motion; in this embodiment, the selected interactive engine can allow patients to complete a series of daily life needs such as grasping and throwing objects in the virtual environment through this engine. The upper limb movement meets the system development requirements;
虚拟现实设备模块，采用PC端显示器或HTC Vive、OCulus虚拟现实头显设备；将游戏内物体的动作与患者手部的动作结合起来，患者可以与游戏内的物体进行交互，达到身临其境的感觉，将游戏内的画面通过PC显示器或者HTC Vive、OCulus虚拟现实头显设备显示出来，达到了让患者进入虚拟现实的效果；虚拟现实设备模块的游戏设计了针对性的训练关卡，所述训练关卡涉及不同的任务目标，训练关卡的难度循序渐进，让患者在游戏中得到针对性训练，提高患者训练康复的效率。The virtual reality device module adopts PC-side monitor or HTC Vive, OCulus virtual reality head-mounted display device; combining the movement of objects in the game with the movement of the patient's hand, the patient can interact with the objects in the game to achieve immersive The feeling in the game is displayed through the PC monitor or the HTC Vive, OCulus virtual reality head-mounted display device, which achieves the effect of allowing patients to enter virtual reality; the game of the virtual reality device module is designed with targeted training levels. The training levels involve different task objectives, and the difficulty of the training levels is gradually increased, so that patients can receive targeted training in the game and improve the efficiency of patient training and rehabilitation.
所述手部运动数据采集模块采集追踪患者运动时的手部动作，并将其同步至所述游戏引擎模块，将患者的手部动作信息复现在所述虚拟现实设备模块的虚拟环境中，再通过交互引擎模块实现患者的手部动作对游戏中物体的操作。The hand movement data collection module collects and tracks the hand movement of the patient, and synchronizes it to the game engine module, reproduces the patient's hand movement information in the virtual environment of the virtual reality device module, and then Through the interaction engine module, the operation of the patient's hand movements on the objects in the game is realized.
实施例2Example 2
如图1所示，在实施例1的基础上，本发明提供了一种应用虚拟现实技术的上肢康复训练方法，包括如下步骤：As shown in Figure 1, on the basis of embodiment 1, the present invention provides a kind of upper limb rehabilitation training method using virtual reality technology, comprises the steps:
步骤S1：安装并调试好手部追踪的Leap Motion红外探测设备，使Leap Motion红外探测设备可以准确追踪患者手部动作并将相关动作信息正确传入游戏引擎模块；Step S1: Install and debug the Leap Motion infrared detection device for hand tracking, so that the Leap Motion infrared detection device can accurately track the patient's hand movements and correctly transmit the relevant movement information to the game engine module;
步骤S2：如图2所示，通过游戏引擎模块将患者的手部动作信息复现在虚拟现实设备模块的虚拟环境游戏场景一中；Step S2: As shown in Figure 2, reproduce the patient's hand movement information in the virtual environment game scene 1 of the virtual reality device module through the game engine module;
步骤S3：通过手部运动数据采集模块采集患者的上肢运动数据，并判断患者的运动是否达到康复标准，若达到康复标准，则将患者的上肢运动数据传输至交互引擎模块，通过交互引擎模块使患者的上肢动作实现对虚拟环境中物体的操作；Step S3: collect the patient's upper limb movement data through the hand movement data acquisition module, and judge whether the patient's movement meets the rehabilitation standard. The patient's upper limb movements realize the operation of objects in the virtual environment;
步骤S41：在完成任务目标过程中，若患者的手部动作未完成指定要求，触发失败特效，则训练关卡复位，患者进行重新挑战；本实施例中，如图3所示，患者可以用手部动作操作火箭飞行，帮助其穿越障碍抵达目的地。如果患者操作的火箭撞到了障碍物，火箭便会发生爆炸，患者失去对火箭的控制，如图4所示，在爆炸效果结束后，关卡复位，患者可以进行新一次的关卡挑战。Step S41: In the process of completing the task goal, if the patient's hand movement does not meet the specified requirements, the failure effect is triggered, the training level is reset, and the patient challenges again; in this embodiment, as shown in Figure 3, the patient can Use all actions to operate the rocket to fly and help it cross obstacles to reach its destination. If the rocket operated by the patient hits an obstacle, the rocket will explode, and the patient loses control of the rocket. As shown in Figure 4, after the explosion effect ends, the level is reset, and the patient can challenge a new level.
步骤S42：在完成任务目标过程中，若患者的手部动作完成指定要求，触发通关特效，将自动载入新的训练关卡；本实施例中，如图5所示，如果患者成功操作火箭到达目标点，则触发通关特效，在动画结束后，如图6所示，将自动载入新的关卡进入游戏场景二。Step S42: In the process of completing the task goal, if the patient's hand movements meet the specified requirements, the special effect of customs clearance will be triggered, and a new training level will be automatically loaded; in this embodiment, as shown in Figure 5, if the patient successfully operates the rocket to reach the The target point will trigger the special effect of level clearance. After the animation ends, as shown in Figure 6, a new level will be automatically loaded into the game scene 2.
步骤S4：若患者达成了虚拟环境中预先设定的一系列任务目标，则康复训练结束。Step S4: If the patient has achieved a series of pre-set task goals in the virtual environment, the rehabilitation training ends.
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.
| Application Number | Priority Date | Filing Date | Title |
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| CN201910472047.0ACN110075486A (en) | 2019-05-31 | 2019-05-31 | A kind of rehabilitation training of upper limbs system and method using virtual reality technology |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910472047.0ACN110075486A (en) | 2019-05-31 | 2019-05-31 | A kind of rehabilitation training of upper limbs system and method using virtual reality technology |
| Publication Number | Publication Date |
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| CN110075486Atrue CN110075486A (en) | 2019-08-02 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201910472047.0APendingCN110075486A (en) | 2019-05-31 | 2019-05-31 | A kind of rehabilitation training of upper limbs system and method using virtual reality technology |
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