CN114947903A - Method and system for measuring abnormal bending and rotation angle of motion system based on X-ray - Google Patents
Method and system for measuring abnormal bending and rotation angle of motion system based on X-ray Download PDFInfo
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Abstract
The invention discloses a method and a system for measuring the malformed curvature and rotation angle of a motion system based on X rays, which are used for obtaining a normal X ray and/or a side X ray of a malformed motion system at a certain part of a patient, determining the key points of the malformed motion system of the patient according to the X rays, and constructing a three-dimensional coordinate system according to the key points to obtain the coordinate data of the key points; and predicting the bending angle and the rotation angle of the deformity of the motion system in the three-dimensional space according to the coordinate data of the key points. The method can obtain the real lateral bending angle and the rotation angle in the three-dimensional space from the two-dimensional X-ray picture, and is more accurate than the deformity data of the motion system obtained from the two-dimensional X-ray picture obtained by the conventional measuring mode; can provide powerful help for the surgeon to evaluate the motor system deformity and make a surgical treatment plan.
Description
Technical Field
The invention belongs to the technical field of medical images, and particularly relates to a method and a system for measuring the abnormal bending and rotation angle of a motion system based on X rays.
Background
The deformity of the motion system, such as the spine deformity, the knee varus deformity, the elbow varus deformity and the like, greatly affects the life health of human bodies, for example, the scoliosis is a deformity and lethal spine deformity, the incidence rate of the deformity is reported to be 2% -4% in the literature, the physical and mental health of patients can be seriously affected due to the appearance deformity, pain and organ dysfunction caused by the scoliosis, and if the good treatment cannot be timely carried out, the deformity can bring heavy burden to families and society. Before the operation of a motor system malformed patient, the malformation degree of the patient needs to be comprehensively and accurately evaluated. The X-ray is widely applied to the field of assessment of deformity of a motion system due to simplicity and convenience, but in the prior art, the cobb angle obtained by the X-ray film reflects only the bending and rotation angles of the deformity on a plane projection, but not the true angle in a three-dimensional space, for example, the cobb angle based on the X-ray film at the right side of the spine reflects only the scoliosis angle on the plane projection, but not the true scoliosis angle in the three-dimensional space, and this distortion in the imaging inevitably has adverse effects on the assessment of the spine deformity by a surgeon and the establishment of an operation treatment scheme. Therefore, how to provide a method for measuring the true bending angle and the rotation angle of the deformity of the motion system in the three-dimensional space based on the X-ray to obtain data closer to the true condition of the disease of the patient and provide powerful help for the surgeon to evaluate the spinal deformity and make an operation treatment scheme is an important subject which needs to be solved urgently in the field.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a method and a system for measuring the deformed bending and rotating angle of a motion system based on X-ray, which can obtain the true lateral bending angle and the true rotating angle of the motion system in a three-dimensional space.
The purpose of the invention is realized by the following technical scheme:
a method for measuring the deformed bending and rotation angle of a motion system based on X-rays is characterized by obtaining a normal X-ray and/or a lateral X-ray of a deformed motion system at a certain part of a patient, determining a deformed key point of the motion system of the patient according to the X-ray, and constructing a three-dimensional coordinate system according to the key point to obtain coordinate data of the key point; and predicting the bending angle and the rotation angle of the deformity of the motion system in the three-dimensional space according to the coordinate data of the key points.
The motor system deformity key points comprise: in the orthostatic X-ray film, vertexes A and B on two sides of the lower end of a malformed part of a sports system, a midpoint O of a connecting line AB between the point A and the point B, vertexes C and D on two sides of the upper end of the malformed part of the sports system, a midpoint F of a connecting line CD between the point C and the point D, and an intersection point G of a vertical line I and a vertical line II, wherein the vertical line I is a vertical line which passes through the midpoint O of the connecting line AB and intersects with the AB, and the vertical line II is a vertical line which passes through the midpoint F of the connecting line CD and intersects with the CD.
The motion system deformity key points further comprise: in the lateral X-ray film, the vertexes H and I on two sides of the lower end of the malformed part of the motion system, the midpoint O ' of a connecting line HI between the point H and the point I, the vertexes J and K on two sides of the upper end of the malformed part of the motion system, the midpoint F ' of a connecting line JK between the point J and the point K, the intersection point G ' of the vertical line III and the vertical line VI, wherein the vertical line III is a vertical line which passes through the midpoint O ' of the connecting line HI and is intersected with the HI, and the vertical line VI is a vertical line which passes through the midpoint F ' of the connecting line JK and is intersected with the JK.
The construction of the three-dimensional coordinate system comprises the following steps: respectively establishing a three-dimensional space coordinate system by taking the point O as an origin on the positive position sheet and the point O 'as an origin on the side position sheet to obtain the coordinates of the key points A, B, C, D, H, I, J, K, O, O', F, F 'and G, G', and the method comprises the following steps: in the orthotopic X-ray film, the coordinate O (0,0) of the midpoint O of the line AB connecting the vertexes A and B at the lower end of the malformed part of the locomotion system, and the coordinate F (X) of the midpoint F of the line CD connecting the vertexes C and D at the upper end of the malformed part of the locomotion system 1 ，y 1 ) Coordinate G (x) of intersection G of perpendicular I and perpendicular II 2 ，y 2 ) (ii) a In the lateral X-ray film, coordinates O '(0, 0) of the midpoint O' of the line HI connecting the vertices H at the lower end of the malformed part of the motion system and the I point, and coordinates F '(z) of the midpoint F' of the line JK connecting the vertices J at the upper end of the malformed part of the motion system and the K point 1 ，y 1 ) Coordinate G '(z) of intersection G' of perpendicular III and perpendicular VI 2 ，y 1 )。
The operation function of the bending angle scloitic angle of the motor system deformity in the three-dimensional space is as follows:
scoliotic angle＝arccos
in the formula: arccos represents the inverse cosine of an inverse trigonometric function in the mathematical concept; x is the number of 1 Is the abscissa value of the midpoint F of the connecting line CD between the vertexes C and D at the two sides of the upper end of the malformed part of the motion system on the positive X-ray sheet; y is 1 The longitudinal coordinate values of the vertexes C and the midpoint F of the connecting line CD at the two sides of the upper end of the malformed part of the motion system on the positive X-ray film; x is the number of 2 Is an abscissa value of an intersection G of the perpendicular I and the perpendicular II on the positive X-ray film; y is 2 Is a vertical coordinate value of an intersection G of the vertical line I and the vertical line II on the positive X-ray film; z is a radical of 1 The abscissa value of the midpoint F' of the connecting line JK between the vertexes J and K at the two sides of the upper end of the malformed part of the motion system on the lateral X-ray film; z is a radical of 2 The abscissa value of the intersection G' of the perpendicular line III and the perpendicular line VI on the lateral X-ray sheet is shown.
The operation function of the rotation angle of the motion system deformity in the three-dimensional space is as follows:
rotationg angle＝arctan(z 2 ÷x 2 )
in the formula: arctan represents the arctangent of the inverse trigonometric function in the mathematical concept; z is a radical of 2 Is the abscissa value of the intersection G' of the perpendicular line III and the perpendicular line VI on the lateral X-ray film; x is the number of 2 Is the abscissa value of the intersection G of the perpendicular I and the perpendicular II on the positive X-ray film.
A system for measuring angles of abnormal flexion and rotation of an locomotor system based on X-rays, comprising: the device comprises an image import module, an image processing module, a coordinate marking module, a function operation module and a result output module.
The image importing module is used for importing the picture data of the X-ray film of the malformed part of the motion system of the patient into the system.
The image processing module is used for preprocessing the imported X-ray film such as amplification, reduction, rotation, brightness, contrast and the like, so that the image is convenient for an observer to identify and the observer can conveniently mark the key point coordinates.
The coordinate marking module is used for marking key points by an observer according to the X-ray film, and the system establishes a three-dimensional space coordinate system according to the key points so as to obtain coordinate data of the key points; the key points include: in the positive X-ray film, vertexes A and B on two sides of the lower end of the malformed part of the motion system, a midpoint O of a connecting line AB between the point A and the point B, vertexes C and D on two sides of the upper end of the malformed part of the motion system, a midpoint F of a connecting line CD between the point C and the point D, and an intersection point G of a vertical line I and a vertical line II, wherein the vertical line I is a vertical line which passes through the midpoint O of the connecting line AB and intersects with the AB, and the vertical line II is a vertical line which passes through the midpoint F of the connecting line CD and intersects with the CD; in the lateral X-ray film, vertexes H and I on two sides of the lower end of the malformed part of the motion system, a middle point O ' of a connecting line HI of a point H and a point I, vertexes J and K on two sides of the upper end of the malformed part of the motion system, a middle point F ' of a connecting line JK of a point J and a point K, an intersection point G ' of a vertical line III and a vertical line VI, wherein the vertical line III is a vertical line which passes through the middle point O ' of the connecting line HI and is intersected with the HI, and the vertical line VI is a vertical line which passes through the middle point F ' of the connecting line JK and is intersected with the JK.
And the function operation module is used for performing function operation on the obtained coordinate data of the key points, including the operation of a real bending angle and a rotation angle.
And the result output module is used for outputting the results of the malformed real bending angle and the rotation angle of the motion system obtained after the function operation.
The system for measuring the malformed bending and rotation angles of the motion system based on the X-ray also comprises a user operation interface module which comprises a plurality of visual interfaces and options and is used for a user to perform various operations of the system.
Compared with the prior art, the invention has the following advantages and effects:
(1) the method can obtain the real lateral bending angle and the rotation angle in the three-dimensional space from the two-dimensional X-ray picture, and is more accurate than the deformity data of the motion system obtained from the two-dimensional X-ray picture obtained by the conventional measuring mode; can provide powerful help for the surgeon to evaluate the motor system deformity and make a surgical treatment scheme;
(2) the operation process of the invention is simple, is easy to be mastered by beginners, can shorten the learning curve of surgeons and improve the diagnosis and treatment accuracy;
(3) according to the invention, the real lateral bending angle and the rotation angle of the deformity of the motion system in the three-dimensional space can be obtained only through the two-dimensional X-ray picture, CT examination is not needed, the diagnosis and treatment cost of a patient is reduced, the medical cost is saved, and the social and economic benefits are higher.
Drawings
FIG. 1 is a schematic view of the method for measuring scoliosis and rotation angle according to the present invention.
FIG. 2 is a schematic diagram of the system for measuring lateral curvature and rotation angle of the spine according to the present invention.
Fig. 3 is a schematic diagram of the spine key point coordinates provided by the present invention.
FIG. 4 is a schematic diagram of a user interface module of the system provided by the present invention.
FIG. 5 is a schematic view of the present invention measuring varus knee deformities in a knee joint.
Figure 6 is a schematic representation of the present invention measuring a varus knee deformity in an elbow joint.
Detailed Description
In order that the invention may be readily understood, reference will now be made in detail to the specific embodiments of the invention. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that, for a person skilled in the art, many variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention.
Example 1
As shown in fig. 1 and 2, the motion system deformity is scoliosis, and the scoliosis and the rotation angle are measured by adopting the method, which comprises the following steps:
(1) collecting the full-length positive and lateral X-ray films of the spine of a patient. After the patient is subjected to X-ray radiation examination, X-ray picture data can be imported from a memory or can be directly obtained by photographing through a mobile phone. After the operator obtains the picture data, the picture is imported into the system of the invention through the image import module.
(2) The image processing module is used for preprocessing the introduced spine full-length positive X-ray film and the introduced lateral X-ray film, and the image processing module comprises the following steps: the image is enlarged, reduced, rotated, adjusted in brightness and darkness, adjusted in contrast and the like, so that the image can better meet the measurement requirement.
(3) Marking key points of scoliosis deformities, comprising: in the positive X-ray film, two side vertexes A and B of a lower endplate of a lower vertebra of a scoliosis section, a midpoint O of a connecting line AB of the point A and the point B, two side vertexes C and D of an upper endplate of an upper vertebra of the scoliosis section, a midpoint F of a connecting line CD of the point C and the point D, a vertical line crossing the midpoint O of the AB and an intersection point G of a vertical line crossing the midpoint F of the CD and the CD are formed; in the lateral X-ray plate, the top points H and I on both sides of the lower endplate of the lower vertebra of the lateral curvature segment of the spine, the middle point O ' of the line HI between the points H and I, the top points J and K on both sides of the lower endplate of the lower vertebra of the lateral curvature segment of the spine, the middle point F ' of the line JK between the points J and K, and the intersection point G ' of the vertical line crossing the middle point O ' of HI and the vertical line crossing the middle point F ' of JK and JK are arranged in the lateral X-ray plate.
(4) The coordinates of the above key points are generated by a coordinate marking module, as shown in fig. 3, which includes: in the positive X-ray plate, coordinates O (0,0) of a middle point O of a connecting line AB between two side vertexes A and B of a lower endplate of a lower vertebra of a scoliosis section, coordinates F (X1, y1) of a middle point F of a connecting line CD between two side vertexes C and D of an upper endplate of an upper vertebra of the scoliosis section, and coordinates G (X2, y2) of an intersection point G of a vertical line crossing the middle point O of the AB and a vertical line crossing the middle point F of the CD and the CD; in the lateral X-ray film, the coordinates O '(0, 0) of the middle point O' of the connecting line HI between the two side vertexes H and I of the lower endplate of the lateral curvature segment of the vertebral column, and the coordinates F '(z) of the middle point F' of the connecting line JK between the two side vertexes J and K of the lower endplate of the lower vertebral column of the lateral curvature segment of the vertebral column 1 ，y 1 ) A coordinate G '(z) of an intersection G' of the "perpendicular intersecting HI through the midpoint O 'of HI" and the "perpendicular intersecting JK through the midpoint F' of JK 2 ，y 1 )。
(5) And (4) function operation: integrating the coordinates of the key points to generate a three-dimensional space coordinate system, and calculating through a function operation module to obtain the real scoliotic angle of the spine in the three-dimensional space, wherein the function is as follows:
scoliotic angle＝arccos
calculating through a function operation module to obtain a real rotation angle of the spine in a three-dimensional space; the function is as follows:
rotationg angle＝arctan(z 2 ÷x 2 )
meanwhile, the function operation module can also obtain: cobb angle Cobb on spinal column orthostatic X-ray film AP The intersection angle of the extension line of the upper endplate of the upper vertebra and the extension line of the lower endplate of the lower vertebra in the scoliosis segment on the positive X-ray plate; cobb angle Cobb on lateral X-ray slice of vertebral column Lat The intersection angle of the extension line of the upper endplate of the upper vertebra and the extension line of the lower endplate of the lower vertebra in the lateral scoliosis segment on the lateral X-ray plate.
(6) The function operation result is displayed through a result output module and displayed to an operator, and the display content comprises the following steps: the real lateral bending angle scoliotic angle of the spine in the three-dimensional space, the real rotation angle rotational angle of the spine in the three-dimensional space, and the Cobb angle Cobb on the positive X-ray of the spine AP Cobb angle Cobb on lateral X-ray sheet of vertebral column Lat 。
As shown in fig. 4, the operator may implement the above steps by operating the interface module.
Example 2
As shown in fig. 5, the locomotor system deformity is a knee varus deformity, comprising the steps of:
(1) collecting the knee joint orthostatic X-ray film of the patient. After the patient is subjected to X-ray radiation examination, X-ray picture data can be imported from a memory or can be directly obtained by photographing through a mobile phone. After an operator acquires picture data, the picture is imported into the system of the invention through the image import module;
(2) the image processing module is used for preprocessing the imported knee joint orthotopic X-ray film and comprises the following steps: the image is enlarged, reduced, rotated, adjusted in brightness and darkness, adjusted in contrast and the like, so that the image can better meet the measurement requirement.
(3) Marking key points of the varus deformity of the knee joint, comprising: tibial plateau medial condyle keypoint a1, tibial plateau lateral condyle keypoint B1, femoral intercondylar notch keypoint C1, femoral keypoint D1.
(4) Generating the coordinates of the key points through a coordinate marking module, wherein the coordinates comprise: the medial tibial plateau condyle keypoint A1 and the lateral condyle keypoint B1 connect the coordinate O (0,0) of the midpoint O of A1B1, the femoral intercondylar notch keypoint C1(x1, y1), and the femoral keypoint D1(x2, y 2).
(5) And (4) function operation: integrating the coordinates of the key points to generate a coordinate system, and calculating through a function operation module to obtain the knee joint varus angle scoliotic angle, wherein the function is as follows:
scoliotic angle＝arccos
(6) the function operation result is displayed through a result output module and displayed to an operator, and the display content comprises the following steps: the varus angle scloitic angle of the varus deformity of the knee joint.
Example 3
As shown in fig. 6, the motion system deformity is an elbow varus deformity, comprising the steps of:
(1) the elbow joint orthostatic X-ray film of the patient is collected. After the patient is subjected to X-ray radiation examination, X-ray picture data can be imported from a memory or can be directly obtained by photographing through a mobile phone. After an operator acquires picture data, the picture is imported into the system of the invention through the image import module;
(2) preprocessing the imported elbow joint orthostatic X-ray film through an image processing module, wherein the preprocessing comprises the following steps: the image is enlarged, reduced, rotated, adjusted in brightness and darkness, adjusted in contrast and the like, so that the image can better meet the measurement requirement.
(3) Marking the key points of the elbow inversion deformity, comprising: ulna shaft key point E1, ulna olecranon key point F1, humeral pulley key point R1, femoral shaft key point S1.
(4) Generating the coordinates of the key points through a coordinate marking module, wherein the coordinates comprise: ulnar stem keypoint E1, ulnar olecranal fossa keypoint F1, midpoint O of line E1F1, coordinate O (0,0), humeral pulley keypoint R1(x1, y1), femoral stem keypoint S1(x2, y 2).
(5) And (4) function operation: integrating the coordinates of the key points to generate a coordinate system, and calculating through a function operation module to obtain the elbow joint varus angle scoliotic angle, wherein the function is as follows:
scoliotic angle＝arccos
(6) the function operation result is displayed through a result output module and displayed to an operator, and the display content comprises the following steps: the elbow varus deformity varus angle scloitic angle.
The above description is only an example of the present invention, but the present invention is not limited to the above example, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention and are equivalent to each other are included in the protection scope of the present invention.
Claims (10)
1. A method for measuring the abnormal bending and rotation angle of a motion system based on X-ray is characterized in that: acquiring a true position X-ray film and/or a side position X-ray film for malformation of a certain part of a patient motion system, determining malformed key points of the patient motion system according to the X-ray films, and constructing a three-dimensional coordinate system according to the key points to obtain coordinate data of the key points; and predicting the bending angle and the rotation angle of the deformity of the motion system in the three-dimensional space according to the coordinate data of the key points.
2. The method for measuring malformed curved and rotated angles of motion systems based on X-rays of claim 1, wherein: the motor system deformity key points comprise: in the orthostatic X-ray film, vertexes A and B on two sides of the lower end of a malformed part of a sports system, a midpoint O of a connecting line AB between the point A and the point B, vertexes C and D on two sides of the upper end of the malformed part of the sports system, a midpoint F of a connecting line CD between the point C and the point D, and an intersection point G of a vertical line I and a vertical line II, wherein the vertical line I is a vertical line which passes through the midpoint O of the connecting line AB and intersects with the AB, and the vertical line II is a vertical line which passes through the midpoint F of the connecting line CD and intersects with the CD.
3. The method for measuring malformed curved and rotated angles of motion systems based on X-rays of claim 1, wherein: the motion system deformity key points further comprise: in the lateral X-ray film, vertexes H and I on two sides of the lower end of the malformed part of the motion system, a middle point O ' of a connecting line HI of a point H and a point I, vertexes J and K on two sides of the upper end of the malformed part of the motion system, a middle point F ' of a connecting line JK of a point J and a point K, an intersection point G ' of a vertical line III and a vertical line VI, wherein the vertical line III is a vertical line which passes through the middle point O ' of the connecting line HI and is intersected with the HI, and the vertical line VI is a vertical line which passes through the middle point F ' of the connecting line JK and is intersected with the JK.
4. The method for measuring malformed curved and rotated angles of motion systems based on X-rays of claim 2 or 3, wherein: the construction of the three-dimensional coordinate system comprises the following steps: respectively establishing a three-dimensional space coordinate system by taking the O point as an origin on the positive position sheet and the O 'point as an origin on the side position sheet to obtain the coordinates of the key points A, B, C, D, H, I, J, K, O, O', F, F 'and G, G', and the method comprises the following steps: in the orthotopic X-ray film, the coordinate O (0,0) of the midpoint O of the line AB connecting the vertexes A and B at the lower end of the malformed part of the locomotion system, and the coordinate F (X) of the midpoint F of the line CD connecting the vertexes C and D at the upper end of the malformed part of the locomotion system 1 ，y 1 ) Coordinate G (x) of intersection G of perpendicular I and perpendicular II 2 ，y 2 ) (ii) a In the lateral X-ray film, coordinates O '(0, 0) of the midpoint O' of the line HI connecting the vertices H at the lower end of the malformed part of the motion system and the I point, and coordinates F '(z) of the midpoint F' of the line JK connecting the vertices J at the upper end of the malformed part of the motion system and the K point 1 ，y 1 ) Coordinate G '(z) of intersection G' of perpendicular III and perpendicular VI 2 ，y 1 )。
5. The method for measuring angles of curvature and rotation of deformities of locomotor systems according to claim 4, wherein: the operation function of the bending angle scloitic angle of the motor system deformity in the three-dimensional space is as follows:
in the formula: arccos represents the inverse cosine of an inverse trigonometric function in the mathematical concept; x is the number of 1 Is the abscissa value of the midpoint F of the connecting line CD between the vertexes C and D at the two sides of the upper end of the malformed part of the motion system on the positive X-ray sheet; y is 1 The longitudinal coordinate values of the central points F of the connection line CD of the vertexes C and D at the two sides of the upper end of the malformed part of the motion system on the positive X-ray sheet; x is the number of 2 Is an abscissa value of an intersection G of the perpendicular I and the perpendicular II on the positive X-ray film; y is 2 Is a vertical coordinate value of an intersection G of the vertical line I and the vertical line II on the positive X-ray film; z is a radical of 1 The abscissa value of the midpoint F' of the connecting line JK between the vertexes J and K at the two sides of the upper end of the malformed part of the motion system on the lateral X-ray film; z is a radical of 2 Is the abscissa value of the intersection G' of the perpendicular line III and the perpendicular line VI on the lateral X-ray sheet.
6. The method for measuring angles of curvature and rotation of deformities of locomotor systems according to claim 4, wherein: the operation function of the rotation angle of the motion system deformity in the three-dimensional space is as follows:
rotationg angle＝arctan(z 2 ÷x 2 )
in the formula: arctan represents the arctangent of the inverse trigonometric function in the mathematical concept; z is a radical of 2 Is the abscissa value of the intersection G' of the perpendicular line III and the perpendicular line VI on the lateral X-ray film; x is the number of 2 Is the abscissa value of the intersection G of the perpendicular I and the perpendicular II on the positive X-ray film.
7. A system for measuring the abnormal bending and rotation angle of a motion system based on X rays is characterized by comprising: the device comprises an image import module, an image processing module, a coordinate marking module, a function operation module and a result output module.
8. The system for measuring angles of flexion and rotation of an locomotion system according to claim 7, characterized in that: the image import module imports the picture data of the X-ray film of the malformed part of the motion system of the patient into the system; the image processing module is used for preprocessing the imported X-ray film such as enlarging, reducing, rotating, shading and contrast.
9. The system for measuring angles of flexion and rotation of an locomotion system according to claim 7, characterized in that: the coordinate marking module is used for marking key points by an observer according to the X-ray film, and the system establishes a three-dimensional space coordinate system according to the key points so as to obtain coordinate data of the key points; the key points include: in the positive X-ray film, vertexes A and B on two sides of the lower end of the malformed part of the motion system, a midpoint O of a connecting line AB between the point A and the point B, vertexes C and D on two sides of the upper end of the malformed part of the motion system, a midpoint F of a connecting line CD between the point C and the point D, and an intersection point G of a vertical line I and a vertical line II, wherein the vertical line I is a vertical line which passes through the midpoint O of the connecting line AB and intersects with the AB, and the vertical line II is a vertical line which passes through the midpoint F of the connecting line CD and intersects with the CD; in the lateral X-ray film, vertexes H and I on two sides of the lower end of the malformed part of the motion system, a middle point O ' of a connecting line HI of a point H and a point I, vertexes J and K on two sides of the upper end of the malformed part of the motion system, a middle point F ' of a connecting line JK of a point J and a point K, an intersection point G ' of a vertical line III and a vertical line VI, wherein the vertical line III is a vertical line which passes through the middle point O ' of the connecting line HI and is intersected with the HI, and the vertical line VI is a vertical line which passes through the middle point F ' of the connecting line JK and is intersected with the JK.
10. The system for measuring angles of flexion and rotation of an locomotion system according to claim 7, characterized in that: the function operation module is used for performing the function operation of claim 5 or 6 on the obtained coordinate data of the key points, and comprises the operation of a real bending angle and a rotation angle; and the result output module is used for outputting the results of the malformed real bending angle and the rotation angle of the motion system obtained after the function operation.
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