CN119498801A - Rehabilitation training method, device and computer medium based on Ba Duan Jin - Google Patents

Abstract

The invention discloses a rehabilitation training method based on eight-section brocade, which comprises the steps of collecting heart rate, blood oxygen and temperature data of a patient through a lower computer system, tracking and identifying human bones through an upper computer system, decomposing eight-section brocade actions, extracting key steps of each action, researching the identification rule of the eight-section brocade actions, setting action standard judging rules and electrocardio signal judging rules, obtaining position and motion information of human bone points, judging whether the rehabilitation actions are qualified or not according to the bone point information of the patient, giving feedback to the patient in a voice mode, setting training targets and training periods, continuing to perform electrocardio monitoring after rehabilitation training, observing the heart rate change condition of the patient after heart rehabilitation, adjusting action training according to heart rate change, monitoring heart health conditions in real time, accurately judging the rehabilitation actions, updating a rehabilitation training scheme in real time, and effectively storing and evaluating rehabilitation training results.

Description

Rehabilitation training method and device based on eight-section brocade and computer medium

Technical Field

The invention relates to the technical field of medical equipment, in particular to a rehabilitation training method, a rehabilitation training device and a computer medium based on eight-section brocade.

Background

With the development of society, unhealthy lifestyle problems are increasingly prominent, and especially the incidence and mortality of cardiovascular diseases such as Acute Myocardial Infarction (AMI) are continuously rising, which becomes one of the main challenges for urban and rural residents' health. Acute myocardial infarction has a long-term effect on physical and mental health of patients, so that the patients are difficult to recover to a normal living state. Therefore, early cardiac rehabilitation of patients with acute myocardial infarction is particularly important. Cardiac rehabilitation is a long-term integrated procedure covering medical evaluation, exercise prescriptions, cardiac risk factor correction, education, counseling, and behavioral intervention to mitigate the effects of heart disease on mind and body, reduce the risk of re-myocardial infarction and sudden death, control heart symptoms, stabilize or reverse the arteriosclerotic process, and improve the psychological and occupational state of patients. Eight-section brocade is one of the recommended exercise modes in heart rehabilitation, and compared with other traditional Chinese medicine exercise therapies, the eight-section brocade has the advantages of short exercise duration and simple action, is suitable for acute myocardial infarction patients and old people with poor physical quality, does not need instruments and site limitation, is easy to learn and comfortable, and can effectively improve the rehabilitation effect.

In cardiac rehabilitation therapy, the standard of rehabilitation activity is usually determined by a rehabilitation engineer, but strict standards are lacking at present. In order to make rehabilitation actions more standardized and better perform heart rehabilitation, relieve the burden of medical staff, ensure the treatment effect of patients, and introduce a robot auxiliary technology to judge action standards to become an innovative solution. Through the intelligent auxiliary technology of the robot, the burden of a rehabilitation engineer can be reduced, and the development of the eight-section brocade rehabilitation training method and system can be promoted. First, the patient is electrocardiographically monitored to assess his heart health. Then, through robot auxiliary technology and Kinect equipment communication, realize that robot assistance patient carries out intelligent eight-section brocade rehabilitation training, improve patient quality of life, help the patient to carry out heart rehabilitation.

Disclosure of Invention

According to the eight-section brocade-based rehabilitation training method, device and computer medium, whether the rehabilitation action accords with the standard or not can be accurately judged by detecting data in real time and adopting the virtual rehabilitation robot and the training scheme is dynamically updated, so that the rehabilitation effect can be automatically judged, the burden of a rehabilitation engineer is relieved, and more real-time intelligent rehabilitation training is provided for patients.

The application provides a rehabilitation training method based on eight-section brocade, which comprises the following steps:

step S1, a lower computer system is built, and heart rate, blood oxygen and temperature data of a patient are collected through the lower computer system;

Step S2, a login and real-time monitoring interface is built, communication with an upper computer and a lower computer is achieved, real-time monitoring data are stored, monitoring data values are extracted, and an image is generated;

step S3, an upper computer system is built, and human bones are tracked and identified through the upper computer system, wherein the upper computer system comprises a virtual rehabilitation robot, coppeliasim, a Visual Studio and a Kinect, rehabilitation actions are set through the Visual Studio, and the Kinect obtains the position and motion information of human bone points, so that the virtual rehabilitation robot and the Kinect are combined to simulate;

step S4, decomposing eight-section brocade actions, extracting key steps of each action, researching the identification rule of the eight-section brocade actions, and setting action standard judging rules and electrocardiosignal judging rules;

S5, measuring projection and reflection of infrared light by using Kinect, obtaining position information and motion information of skeleton points of a human body, tracking the position change of the skeleton points, capturing a motion track of a patient, analyzing the track to judge whether rehabilitation actions are qualified or not, and feeding back to the patient in a voice mode;

the position information comprises joint angles and joint heights;

The motion information comprises motion balance, obvious change of posture, speed and rhythm, joint activity degree, joint direction and motion consistency;

step S6, whether the action is qualified or not is identified by setting angle values and height differences of different points of the human body through Visual Studio, and feedback is given to a patient in a voice mode;

Step S7, setting a training target and a training period, continuously carrying out electrocardiographic monitoring after rehabilitation training, observing the change condition of heart rate of a patient after heart rehabilitation, and adjusting action training according to the heart rate change.

Preferably, the lower computer system in the step S1 includes an electrocardiographic blood oxygen monitor of Arduino, blood oxygen and heart rate sensors, a temperature sensor, a display screen and a respiratory rate sensor.

Preferably, in step S5, the Kinect identifies different actions according to the bone coordinate points, the included angles between the two bones, and the relative position difference between the bone points, and the included angle formula is used for the angles:

Wherein a and b respectively represent the lengths of two adjacent bones, c represents the lengths of opposite sides of the two bones, and θ represents the included angle between a and b;

Different actions are identified according to the coordinates of the bone points and the relative position difference of the bone points, and the three-dimensional distance formula between the two bone points is as follows:

Preferably, in the step S5, the joint angle and the joint height are specifically:

the included angle between the right upper arm and the right lower arm is set to be 100-120 degrees, the coordinate difference of the highest point of the right wrist higher than the right shoulder in the y-axis direction is 0.3m, the included angle between the left upper arm and the left lower arm is set to be 100-120 degrees, and the coordinate difference of the highest point of the left wrist higher than the left shoulder in the y-axis direction is 0.3m.

Preferably, the training target and training period in the step S6 are that the heart rate of the training target is set to be the resting heart rate plus 20-30 times/minute, the target heart rate is set to be 60-80%, the maximum heart rate is set to be 220-age, and the training period is 1 month.

Preferably, in the step S6, the motion training is specifically performed by performing coordinated training through Kinect if the detected heart rate is higher than the training target, and performing chest expansion training exercise through Kinect if the detected heart rate is lower than the training target.

The application also provides a rehabilitation training device based on the eight-section brocade, which comprises:

The data acquisition module is used for acquiring heart rate, blood oxygen and temperature data of a patient;

The storage display module is used for logging in and monitoring an interface in real time, realizing communication with the upper computer and the lower computer, storing real-time monitoring data, extracting monitoring data values and generating an image;

The system comprises a tracking and identifying module, a virtual rehabilitation robot, a virtual Studio and a Kinect, wherein the tracking and identifying module is used for tracking and identifying human bones and comprises the virtual rehabilitation robot, coppeliasim, the Visual Studio and the Kinect, and the virtual rehabilitation robot and the Kinect are combined to simulate by setting rehabilitation actions through the Visual Studio and acquiring the position and movement information of human bone points;

The standard setting module is used for decomposing the eight-section brocade actions and extracting key steps of each action, researching the identification rule of the eight-section brocade actions and setting action standard judging rules and electrocardiosignal judging rules;

the assessment feedback module is used for judging whether the rehabilitation action is qualified according to the bone point information of the patient, and feeding back the patient in a voice mode;

The tracking detection module is used for setting a training target and a training period, continuously carrying out electrocardiographic monitoring after rehabilitation training, observing the change condition of the heart rate of a patient after heart rehabilitation, and adjusting or updating the action training of the virtual robot according to the rehabilitation condition.

The application also provides a computer medium, wherein the computer medium is stored with a computer program, and the computer program realizes the rehabilitation training method when being executed by a processor.

One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:

1. the motion standard of the eight-section brocade is identified and judged in a unified and standardized way by the upper computer, so that the accurate judgment of the eight-section brocade motion is realized, and the error caused by subjective judgment of a rehabilitation engineer is reduced.

2. The lower computer system is adopted to conduct real-time data detection and training scheme updating, so that the individual rehabilitation requirements of patients are better met, and the rehabilitation effect and the treatment efficiency are improved.

3. The Kinect equipment is used for communicating CoppeliaSim with the Visual Studio, the virtual robot accurately monitors and guides rehabilitation actions, the action standard is ensured, the functions of guiding, supervising and reproducing demonstration are realized, and the occurrence of irregular actions is reduced.

Drawings

FIG. 1 is a flowchart of a rehabilitation training method according to a first embodiment of the present application;

FIG. 2 is a schematic diagram of an upper computer and a lower computer in accordance with an embodiment of the present application;

fig. 3 is a diagram of an Arduino electrocardiograph detection device Pcb according to a first embodiment of the present application;

FIG. 4 is a wiring diagram of an Arduino electrocardiograph monitoring device according to an embodiment of the present application;

FIG. 5 is a diagram of a human skeleton identified by Kinect in accordance with an embodiment of the present application;

FIG. 6 is a diagram illustrating a virtual robot in accordance with an embodiment of the present application;

FIG. 7 is a third section of a virtual robot in accordance with an embodiment of the present application;

fig. 8 is a third section view of a robot eight-section brocade in the first embodiment of the application;

Fig. 9 is a diagram of robot-assisted eight-segment brocade rehabilitation training according to the first embodiment of the application.

Detailed Description

The application provides a rehabilitation training method, a device and a computer medium based on eight-section brocade, which solve the problems that a rehabilitation engineer has heavy treatment burden when adopting the eight-section brocade rehabilitation training mode in the current heart rehabilitation treatment process, and the electrocardio detection data in the treatment process are not synchronously updated and the treatment effect lacks standardized judgment.

In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.

Example 1

As shown in fig. 1, the rehabilitation training method based on the eight-section brocade comprises the following steps:

Step S1, a lower computer system is built, and heart rate, blood oxygen and temperature data of a patient are collected through the lower computer system.

As shown in FIG. 2, the lower computer system comprises an Arduino electrocardiographic blood oxygen monitor, an integrated MAX30102 (blood oxygen and heart rate sensor), LM35 (temperature sensor), SSD1306 (display screen), HKH-11C (respiratory rate sensor). Fig. 3 and 4 are schematic diagrams of connection of an electrocardiograph and blood oxygen monitor of Arduino, and the health condition of a human body is determined through data monitored by equipment of a lower computer system.

And S2, establishing a login and real-time monitoring interface through the Python, realizing communication with an upper computer and a lower computer, storing real-time monitoring data, extracting monitoring data values and generating an image.

For the phase I of early patient rehabilitation of acute myocardial infarction patients, a system rehabilitation interface is built by adopting PyCharm as a development environment. And extracting each monitored data value and generating a corresponding image.

And S3, building an upper computer system, and tracking and identifying human bones through the upper computer system.

As shown in FIG. 2, the upper computer system comprises a virtual rehabilitation robot, coppeliasim communication, visual Studio communication and Kinect equipment communication, and the virtual rehabilitation robot and the Kinect are combined to simulate by setting rehabilitation actions through the Visual Studio and acquiring the position and motion information of human skeletal points through the Kinect.

Simulation process:

step S31, setting a virtual rehabilitation robot:

Using CoppeliaSim, a model of a virtual rehabilitation robot is created that needs to have similar degrees of freedom of movement and joint parameters as the actual human skeleton.

Through the Visual Studio programming interface, a standard gesture of eight-segment brocade actions is defined. Position and posture information of key skeletal points, such as angles of joints such as shoulders, elbows, knees, etc., is set for each posture.

Step S32, data acquisition and simulation synchronization of Kinect:

the Kinect equipment acquires bone data of a patient in real time, and acquires three-dimensional coordinates and motion tracks of all bone points.

And transmitting skeleton data acquired by Kinect to CoppeliaSim through a communication interface, and synchronously updating the posture and the motion state of the virtual rehabilitation robot in the virtual environment.

Step S33, simulation feedback and correction:

And comparing the current posture of the patient with the standard posture through a simulation module CoppeliaSim, and calculating the deviation value of each bone point. The deviation may be represented by a position difference and an angle difference in a three-dimensional space.

And dynamically adjusting the action of the virtual rehabilitation robot according to the deviation value, providing Visual feedback, and sending a voice prompt to the patient through a Visual Studio control interface to guide the patient to correct the action.

And S4, decomposing eight-section brocade actions, extracting key steps of each action, researching the identification rule of the eight-section brocade actions, and setting action standard judging rules and electrocardiosignal judging rules.

The action standard judging rule is as follows:

action decomposition, namely decomposing each complete action in the eight-section brocade into a plurality of steps. Each action consists of a start, a transition and an end of three parts, each setting specific posture and movement requirements.

Angle setting we set the range of angles of the joint for each step after the decomposition. The standard included angle of the arm motion is set between 100 degrees and 120 degrees, so that the patient can reach the standard motion amplitude when performing the motion.

Height criteria in addition to the angle settings we set the height differences for the critical body parts. For example, the difference in height of the wrist relative to the shoulder should be 0.3 meters. These height criteria are used to guide the patient in maintaining the correct posture during the training process.

And judging whether the current action meets the set standard or not by calculating the three-dimensional coordinates and the included angles of the skeleton points. For actions which do not meet the standard, the patient is helped to adjust through the virtual rehabilitation robot and the voice prompt.

Other evaluation rules:

(1) Stability and safety of gestures

Balance and stabilization the key steps are to ensure the balance and stabilization of the body during the action. For example, in some flexion or extension actions in eight segments of brocade, maintaining spinal stabilization is an important key step.

Avoiding overstretching or loading by identifying those actions that may cause overstretching or loading of the joint and ensuring that those actions are performed in a safe manner to avoid potential injury to the patient.

(2) Degree of recognition of motion

Significant gesture changes the key steps are usually accompanied by significant gesture changes, which are easily recognized by the movement trajectories of skeletal points. For example, arm stretching motion in "left and right opening bow-like jet carving" belongs to remarkable posture change, and is one of key steps.

Speed and rhythm the key steps of certain actions relate to specific speed or rhythm, and specific actions need to be completed within a certain time, which is critical to the rehabilitation training effect.

(3) Biomechanical properties

Articulation degree-according to articulation range, extracting those steps requiring articulation with larger range. For example, some actions in eight-segment brocade require full extension of the arm or leg, and such steps should be considered critical steps.

Angle and direction-the importance of extracting those actions that are done at a particular angle or direction, the angular relationship between the skeletal points is used to identify these key steps.

(4) Repeatability and consistency of motion

High repetition-the key steps of certain actions frequently occur throughout the eight-segment brocade, and strict consistency is required for each occurrence. For example, the synchronization of respiration and motion needs to be extracted as a key step.

The key steps are required to have higher consistency, standardized evaluation can be carried out among different patients, and predictability and repeatability of the rehabilitation effect are ensured.

By combining the action resolution, angle and height settings with these criteria, we can more accurately extract key steps, evaluate if the action is up to standard, and provide safe and effective rehabilitation training for the patient.

And S5, measuring projection and reflection of infrared light by using Kinect, acquiring position and motion information of skeleton points of a human body, tracking position changes of the skeleton points, capturing a motion track of a patient, analyzing the track to judge whether rehabilitation actions are qualified or not, and feeding back to the patient in a voice mode.

Through Kinect equipment and CoppeliaSim and Vs Studio, the included angle between the right upper arm and the right lower arm is a unique and fixed angle, and the angle is set to be 100-120 degrees through the study of eight-section brocade movement. The coordinate difference of the highest point of the right wrist higher than the right shoulder along the y-axis direction is 0.3m. The left arm is similarly set. And the completion of the printing action by the command box.

As shown in fig. 5, three-dimensional skeletal data acquired using Kinect identifies critical skeletal points of a patient, such as the head, shoulder, elbow, wrist, hip, knee, ankle, and the like. And calculating the included angle of each joint by utilizing the coordinate information of the skeleton points. When the human body moves, the Kinect recognizes different actions according to the bone coordinate points, the included angle between two bones and the relative position difference between the bone points, and for the angles, an included angle formula can be used:

Wherein a and b respectively represent the lengths of two adjacent bones, c represents the lengths of opposite sides of the two bones, and θ represents the included angle between a and b. Different actions will produce different angles, so different actions can be determined by an angle recognition method.

Different actions are identified according to the coordinates of the bone points and the relative position difference of the bone points, the three-dimensional distance between the two bone points can be measured by Euclidean three-dimensional distance measurement, and different distances are set according to different actions, and the formula is as follows:

As shown in fig. 6, 7,8 and 9, the robot is in a posture during the whole process of executing the 'regulating spleen and stomach single lift' action of the third section of eight-section brocade. The system makes corresponding feedback according to the standard reaching degree of the patient action, when the patient has good effect, the virtual robot can erect the thumb and express affirmation through voice encouragement, and if the patient action does not reach the standard, the virtual robot can guide and reappear the rehabilitation action and give the voice encouragement to the patient.

And S6, monitoring information such as heart rate of a patient in real time through an electrocardiograph blood oxygen monitor device, and evaluating the rehabilitation effect of the patient in real time by combining physiological data such as heart rate, blood oxygen and the like. If the heart rate of the patient deviates from the set training target, the difficulty or rhythm of the training action is automatically adjusted so as to better adapt to the rehabilitation requirement of the patient. The training target heart rate is set to be the resting heart rate plus 20-30 times/minute, the target heart rate is set to be 60-80%, and the maximum heart rate=220-age. The heart rate should be between the target heart rate and the target heart rate during training, and the tolerance degree of the patient is noted, and one month is taken as a training period. After the patient is subjected to rehabilitation training, the electrocardiograph monitoring is continuously performed, the change condition of the heart rate of the patient after heart rehabilitation is observed, and the action training of the virtual robot is regulated or updated according to the rehabilitation condition, so that the early rehabilitation training of the patient with myocardial infarction under the supervision mode is realized. Through the implementation mode, the simulation process and the identification process are embodied, and the accuracy and the effectiveness of rehabilitation training are further improved.

The application adopts the electrocardio monitoring system to monitor the health data of the patient in real time, dynamically adjusts the rehabilitation training scheme according to the data, better meets the individual rehabilitation requirement of the patient, and improves the rehabilitation effect and the treatment efficiency. The eight-section brocade rehabilitation training system for the early myocardial infarction patients is researched, and a staged rehabilitation plan is formulated. 1-3 days after the operation of the patient with acute myocardial infarction, the first 4 sections of eight sections of brocade are completed by adopting sitting postures, and all 8 sections are completed by adopting standing postures 4-7 days after the operation. The method ensures that patients adapt to training gradually, reduces the risk of premature excessive exercise, and improves rehabilitation effect.

According to the application, by combining the electrocardio monitoring system with heart rehabilitation work, different rehabilitation training schemes are proposed according to real-time data, and standardized judgment of rehabilitation actions is realized. The Kinect equipment is used for communication with CoppeliaSim and Visual Studio, the virtual robot accurately monitors and guides rehabilitation actions, the action standard is ensured, the occurrence of irregular actions is reduced, compared with the traditional rehabilitation method, the accuracy of the rehabilitation actions is improved by about 30%, the influence of subjective errors is reduced, and the training effect is more consistent.

Example two

The application provides a rehabilitation training device based on eight-section brocade, which executes the method in the first embodiment, and comprises the following modules:

And the data monitoring module is used for collecting heart rate, blood oxygen and temperature data of the patient.

The storage display module is used for building a login and real-time monitoring interface, realizing communication with the upper computer and the lower computer, storing real-time monitoring data, extracting monitoring data values and generating images.

The tracking and identifying module is used for setting rehabilitation actions through visual studio communication, remotely controlling the virtual rehabilitation robot through visual studio communication, realizing the joint simulation of the virtual rehabilitation robot and Kinect, and realizing the tracking and identifying of human bones.

The standard setting module is used for decomposing the eight-section brocade actions, extracting key steps of each action, researching the identification rule of the eight-section brocade actions and setting action standard judging rules and electrocardiosignal judging rules

And the evaluation feedback module is used for setting angle values and height differences of different points of the human body to identify whether the actions are qualified or not and giving feedback to the patient in a voice mode.

The tracking detection module is used for continuously carrying out electrocardio monitoring after carrying out rehabilitation training, observing the change condition of heart rate of a patient after heart rehabilitation, and adjusting or updating the action training of the virtual robot according to the rehabilitation condition.

Example III

The present application provides a computer storage medium comprising instructions which, when executed on a computer, cause the computer to perform the method of the first embodiment above.

In the above-described embodiment one, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product.

The computer program product described above includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be stored by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (Solid STATE DISK, SSD)), etc.

The embodiments of the present invention are all preferred embodiments of the present invention, and are not limited in scope by the present invention, so that all equivalent changes according to the structure, shape and principle of the present invention are covered by the scope of the present invention.

While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (8)

1. The rehabilitation training method based on the eight-section brocade is characterized by comprising the following steps of:

step S1, a lower computer system is built, and heart rate, blood oxygen and temperature data of a patient are collected through the lower computer system;

Step S2, a login and real-time monitoring interface is built, communication with an upper computer and a lower computer is achieved, real-time monitoring data are stored, monitoring data values are extracted, and an image is generated;

step S3, an upper computer system is built, and human bones are tracked and identified through the upper computer system, wherein the upper computer system comprises a virtual rehabilitation robot, coppeliasim, a Visual Studio and a Kinect, rehabilitation actions are set through the Visual Studio, and the Kinect obtains the position and motion information of human bone points, so that the virtual rehabilitation robot and the Kinect are combined to simulate;

step S4, decomposing eight-section brocade actions, extracting key steps of each action, researching the identification rule of the eight-section brocade actions, and setting action standard judging rules and electrocardiosignal judging rules;

S5, measuring projection and reflection of infrared light by using Kinect, obtaining position information and motion information of skeleton points of a human body, tracking the position change of the skeleton points, capturing a motion track of a patient, analyzing the track to judge whether rehabilitation actions are qualified or not, and feeding back to the patient in a voice mode;

the position information comprises joint angles and joint heights;

The motion information comprises motion balance, obvious change of posture, speed and rhythm, joint activity degree, joint direction and motion consistency;

and S6, setting a training target and a training period, continuously carrying out electrocardiographic monitoring after rehabilitation training, observing the change condition of the heart rate of a patient after heart rehabilitation, and adjusting action training according to the heart rate change.

2. The rehabilitation training method according to claim 1, wherein the lower computer system in the step S1 comprises an Arduino electrocardiograph blood oxygen monitor, a blood oxygen and heart rate sensor, a temperature sensor, a display screen and a respiratory rate sensor.

3. The rehabilitation training method according to claim 1, wherein the Kinect in step S5 identifies different actions according to the bone coordinate points, the angles between the bones and the relative position difference between the bone points, and uses the angle formula for the angles:

Wherein a and b respectively represent the lengths of two adjacent bones, c represents the lengths of opposite sides of the two bones, and θ represents the included angle between a and b;

Different actions are identified according to the coordinates of the bone points and the relative position difference of the bone points, and the three-dimensional distance formula between the two bone points is as follows:

4. The rehabilitation training method according to claim 1, wherein the joint angle and the joint height in the step S5 are specifically:

the included angle between the right upper arm and the right lower arm is set to be 100-120 degrees, the coordinate difference of the highest point of the right wrist higher than the right shoulder in the y-axis direction is 0.3m, the included angle between the left upper arm and the left lower arm is set to be 100-120 degrees, and the coordinate difference of the highest point of the left wrist higher than the left shoulder in the y-axis direction is 0.3m.

5. The rehabilitation training method according to claim 1, wherein the training target and the training period in the step S6 are that the heart rate of the training target is set to be the rest heart rate plus 20-30 times/min, the target heart rate is set to be 60-80%, the maximum heart rate is set to be 220-years, and the training period is 1 month.

6. The rehabilitation training method according to claim 1, wherein the step S6 of adjusting the motion training according to the heart rate variation is specifically:

And if the detected heart rate is lower than the training target, performing chest expansion training exercise through the Kinect.

7. Rehabilitation training device based on eight sections brocade, characterized by comprising:

The data acquisition module is used for acquiring heart rate, blood oxygen and temperature data of a patient;

The storage display module is used for logging in and monitoring an interface in real time, realizing communication with the upper computer and the lower computer, storing real-time monitoring data, extracting monitoring data values and generating an image;

The system comprises a tracking and identifying module, a virtual rehabilitation robot, a virtual Studio and a Kinect, wherein the tracking and identifying module is used for tracking and identifying human bones and comprises the virtual rehabilitation robot, coppeliasim, the Visual Studio and the Kinect, and the virtual rehabilitation robot and the Kinect are combined to simulate by setting rehabilitation actions through the Visual Studio and acquiring the position and movement information of human bone points;

The standard setting module is used for decomposing the eight-section brocade actions and extracting key steps of each action, researching the identification rule of the eight-section brocade actions and setting action standard judging rules and electrocardiosignal judging rules;

the assessment feedback module is used for judging whether the rehabilitation action is qualified according to the bone point information of the patient, and feeding back the patient in a voice mode;

The tracking detection module is used for setting a training target and a training period, continuously carrying out electrocardiographic monitoring after rehabilitation training, observing the change condition of the heart rate of a patient after heart rehabilitation, and adjusting or updating the action training of the virtual robot according to the rehabilitation condition.

8. A computer medium, characterized in that it has stored thereon a computer program which, when executed by a processor, implements the rehabilitation training method according to any one of claims 1 to 6.