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WO2010082157A1 - Procédé de détermination de l'axe de rotation d'une articulation et dispositif de surveillance des mouvements d'au moins une partie du corps - Google Patents

Procédé de détermination de l'axe de rotation d'une articulation et dispositif de surveillance des mouvements d'au moins une partie du corps Download PDF

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Publication number
WO2010082157A1
WO2010082157A1 PCT/IB2010/050112 IB2010050112W WO2010082157A1 WO 2010082157 A1 WO2010082157 A1 WO 2010082157A1 IB 2010050112 W IB2010050112 W IB 2010050112W WO 2010082157 A1 WO2010082157 A1 WO 2010082157A1
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WO
WIPO (PCT)
Prior art keywords
orientation
orientation indicator
joint
body part
rotation axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IB2010/050112
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English (en)
Inventor
Victor M. G. Van Acht
Nicolaas Lambert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Koninklijke Philips NV
Original Assignee
Koninklijke Philips Electronics NV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Publication of WO2010082157A1 publication Critical patent/WO2010082157A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4528—Joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb using a particular sensing technique
    • A61B5/1127—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb using a particular sensing technique using markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis

Definitions

  • the present invention relates to a method for determining the rotation axis of a joint and to a device for monitoring the movements of at least one body part.
  • physiotherapy is very labor intensive, since a physiotherapist can treat only one person at a time.
  • conventional physiotherapy is rather expensive which results in that only a limited number of treatments is reimbursed to the patient in order to keep costs for the healthcare system low.
  • the outcome for the patient would be improved if he/she could do more or longer physiotherapy exercises, but the costs for the physiotherapist which has to be present all the time prevents prescription of more and/or longer physiotherapy exercises.
  • the position and orientation indicators are formed by motion sensors attached to different body parts and transmitting position and orientation information to a control unit. It is known to use a specific calibration procedure in which the patient is asked to take a predefined reference posture to acquire information about the alignment of the motion sensor(s) with respect to the body part(s). This procedure is executed before the patient starts exercising. When the patient is in the reference posture (e.g. standing up right with the arms strictly down and the palms of the hands towards the legs) the motion sensor reading is stored as a reference reading. During normal operation of the system (i.e.
  • the current reading of the motion sensor can then be corrected using the reference reading (e.g. by "subtracting” the reference reading) in order to calculate the current orientation of the limbs from the orientation of respective motion sensors.
  • the reference reading e.g. by "subtracting” the reference reading
  • such an alignment procedure as described above is cumbersome and thus user-unfriendly. Further, if the patient does not accurately assume the reference posture during the calibration procedure (and this is not detected), all calculations based on the accuracy of the alignment calibration fail.
  • US 2008 0285805 Al discloses a system for capturing motion of a moving object via a plurality of motion sensor modules placed on various body segments.
  • the sensor modules capture both 3D position and 3D orientation data relating to their respective body segments.
  • a sensor-to-segment alignment has to be performed before the system can be used for capturing the motion of a moving object.
  • the method comprises the steps: attaching a position and orientation indicator to a body part adjacent to a joint; moving the joint and detecting resulting motions of the position and orientation indicator with respect to a reference system; determining instantaneous orientations of the position and orientation indicator at different points in time from the detected motions of the position and orientation indicator; determining an average orientation of the position and orientation indicator from the detected motions of the position and orientation indicator; and determining a rotation axis of the joint based on the instantaneous orientations and the average orientation.
  • the actual rotation axis of a joint i.e.
  • the axis around which a joint is currently rotated can be reliably determined without requiring an initial position and orientation indicator -to-body part alignment routine.
  • the position and orientation indicator is attached to the body part without necessitating a specific calibration of its alignment.
  • the reference system with respect to which the movements of the position and orientation indicator are determined can e.g. be a further position and orientation indicator attached to a body part or e.g. a "world-fixed" reference position, e.g. a specific position inside a room or the like. Since the actual orientation of the rotation axis is determined based on the instantaneous orientations and the average orientation of the position and orientation indicator, no calibration procedure is necessary.
  • the method comprises the step of calculating the differences between the instantaneous orientations and the average orientation, and the rotation axis of the joint is determined based on these differences. In this case, the rotation axis is determined in a particular convenient way.
  • the reference system is a global fixed system. In this case, only one position and orientation indicator has to be attached to the body and the system can be realized in a particularly cost-efficient way.
  • the reference system is a second position and orientation indicator attached to a body part on the opposite side of the joint.
  • the rotation axis of the joint can be reliably determined even if the orientation and the position of the joint are not constant over time (which is a situation during physiotherapy exercises when e.g. the elbow and knee joints are moved while simultaneously moving the shoulder joint respectively the hip joint).
  • the position and orientation indicator is attached to the body part such that rotation about a first axis of a local coordinate frame of the position and orientation indicator with respect to the body part is prevented.
  • the determined orientation of the rotation axis can conveniently be analyzed to determine components of the rotation axis along specific axes of a local coordinate frame of the body part or of another suitable coordinate frame.
  • the component of the rotation axis along the first axis of the local coordinate frame of the position and orientation indicator is determined from the differences between the instantaneous orientations of the position and orientation indicator and the average orientation of the position and orientation indicator, for example a twist of a body part during physiotherapy exercises can reliably be determined (for instance twisting of a leg during hip joint exercises or twisting of an arm during shoulder exercises) and this twist can conveniently be expressed in a local coordinate frame.
  • the object is further solved by a device for monitoring the movements of at least one body part according to claim 8.
  • the device comprises at least one position and orientation indicator adapted to be attached to a body part which is adjacent to a joint and a control unit adapted for detecting motions of the position and orientation indicator with respect to a reference system.
  • the control unit is adapted to: determine instantaneous orientations of the position and orientation indicator at different points in time from the detected motions of the position and orientation indicator; determine an average orientation of the position and orientation indicator from the detected motions of the position and orientation indicator; and determine a rotation axis of the joint based on the instantaneous orientations and the average orientation.
  • the rotation axis of the joint is reliably determined without requiring explicit calibration of the alignment of the position and orientation indicator with respect to the body part.
  • the device comprises an attachment component for attaching the at least one position and orientation indicator to the body part and the attachment component is structured such that rotation about a first axis of a local coordinate frame of the position and orientation indicator with respect to the body part is prevented.
  • the determined orientation of the rotation axis can conveniently be analyzed to determine components of the rotation axis along specific axes of a local coordinate frame of the body part or of another suitable coordinate frame.
  • the device comprises at least one further position and orientation indicator adapted to be attached to a further body part on the opposite side of the at least one joint; the rotation axis of the joint can be reliably determined even if the position and the orientation of the joint are not fixed over time.
  • the device is a physiotherapy monitoring device.
  • Fig. Ia to Ic schematically illustrate rotations of a hip joint around different axes.
  • Fig. 2 schematically shows a human body comprising several body parts provided with position and orientation indicators and associated local coordinate systems.
  • Fig. 3 schematically illustrates the orientation of a local position and orientation indicator coordinate system.
  • Fig. 4a to 4c schematically illustrate different degrees of freedom in orientation between local position and orientation indicator coordinate systems and body parts.
  • Fig. 5 shows an example of a plot used for determining the rotation axis of a joint.
  • Fig. 6 schematically shows an example of combined lifting and twisting of a leg.
  • the method for determining the rotation axis of a joint will be exemplarily explained with respective position and orientation indicators attached to an upper leg and a lower leg of a patient. More clearly, the method will be explained with respect to at least one position and orientation indicator attached to the body part which is a leg in the example.
  • the device for monitoring the movements of at least one body part according to the embodiment is formed by a physiotherapy monitoring device.
  • the device according to the embodiment is specifically adapted for monitoring movements of the leg of a patient, in particular for monitoring hip and knee exercises for physiotherapy patients.
  • the invention is not limited to this type of application.
  • the position and orientation indicators are formed by motion sensors attached to respective body parts and transmitting position and orientation information to the control unit 100.
  • the invention is not limited to this and can e.g. also be applied to other types of position and orientation indicators.
  • the position and orientation indicators can also be formed by reference elements attached to different body parts, wherein position and orientation of the reference elements are detected by means of a suitable camera.
  • the device comprises a control unit 100 (see Fig. 2) which is connected (e.g. through wires or wireless) to the position and orientation indicators which will be described later on and is adapted such that the steps which will be described in following are performed by the device.
  • Fig. 2 schematically shows a human body 1 comprising a plurality of body parts.
  • a first position and orientation indicator 2 is attached to an upper leg as a first body part 3 and a second position and orientation indicator 4 is attached to a lower leg as a second body part 5.
  • the steps for determining the rotation axis of the joint and further steps are implemented in the control unit 100 which is schematically depicted.
  • the first position and orientation indicator 2 and the second position and orientation indicator 4 can e.g. be attached to the first body part 3 and the second body part 5 by means of elastic textile straps comprising small pouches in which the respective position and orientation indicators can be placed.
  • first position and orientation indicator 2 is attached “above” the knee (i.e. attached to the upper leg) while another position and orientation indicator (second position and orientation indicator 4) is attached “below” the knee (i.e. attached to the lower leg).
  • second position and orientation indicator 4 is attached “below” the knee (i.e. attached to the lower leg).
  • a (right-handed) local orthogonal coordinate frame is assigned to the first body part 3 (the upper leg).
  • This local orthogonal coordinate frame comprises the axes UL x, UL y, and UL z.
  • UL z is chosen to point forward in the direction in which the face of the patient wearing the position and orientation indicators is directed (in a normal posture).
  • UL x is chosen to point towards the foot, and UL y is chosen such that UL x, UL y, and UL z form a right-handed orthogonal coordinate frame.
  • a local orthogonal coordinate frame is assigned to the second body part 5 (the lower leg) comprising the axes LL x, LL y, and LL z.
  • LL z is chosen to point forward
  • LL x is chosen to point to the foot
  • LL y is chosen such that a right-handed local orthogonal coordinate frame is formed.
  • local coordinate frames are assigned to the first position and orientation indicator 2 and to the second position and orientation indicator 4.
  • the local coordinate frame assigned to the first position and orientation indicator 2 comprises the axes x, y, z.
  • the local coordinate frame assigned to the second position and orientation indicator 4 comprises the axes LS x, LS y, and LS z.
  • the assignment of the local coordinate frames to the first and second position and orientation indicators 2 and 4 is schematically shown in Fig. 3 where x corresponds to us x or LS x, y to us y or LS y, and z corresponds to us z or LS z, respectively.
  • Rx is used to indicate a rotation about the axis x, Ry to indicate a rotation about y, and Rz to indicate a rotation about z.
  • the direction of us x corresponds to UL x
  • the direction of us y corresponds to UL y
  • the direction of us z corresponds to UL z.
  • T C T T T C T T T T C x corresponds to x
  • the direction of y corresponds to y
  • the direction of z corresponds to LL z.
  • a local coordinate frame is assigned to the torso 6 with the axis ⁇ z pointing forward, the axis ⁇ x pointing towards the head, and ⁇ y being chosen such that a right-handed orthogonal local coordinate frame is formed.
  • local coordinate frames can be assigned to other body parts in a corresponding way. Further, position and orientation indicators could additionally or alternatively be attached to other body parts.
  • determination of the rotation axis of a hip joint will be exemplarily explained based on motions of the leg (e.g. as shown in Fig. 1).
  • the rotation axis is determined based on the position and orientation indicator readings of either the first position and orientation indicator 2 or the second position and orientation indicator 4.
  • the alignment of the position and orientation indicator with respect to the body part is not calibrated before the rotation axis is determined, i.e. the rotation axis is determined using a position and orientation indicator which has not been aligned with the body part to which it is attached.
  • orientations will be expressed as quaternions.
  • the algorithms could also be expressed using another representation of 3 -dimensional orientations such as Euler angles or rotation matrices, albeit with a little more work.
  • the orientation of the position and orientation indicator e.g.
  • either the first position and orientation indicator 2 or the second position and orientation indicator 4) expressed in a world- fixed reference coordinate frame is given by the quaternion w Qs (S for sensor as an example for a position and orientation indicator, W for world), wherein a quaternion A Q B expresses a rotation (or coordinate transformation) from frame B to frame A.
  • the instantaneous values of w Qs are passed through a low pass filter with a cut-off frequency of for example 0.3Hz, the average difference in orientation between the position and orientation indicator and the reference system denoted by ⁇ _ W Q S J is obtained.
  • the difference S Q ⁇ S ⁇ can be interpreted as the instantaneous difference between, on one hand, the current orientation of the position and orientation indicator with respect to the reference system and, on the other hand, the average orientation of the position and orientation indicator with respect to the reference system. And obviously, the difference between the current orientation and the average orientation is caused by movement of the joint around the joint axis in the present example (the current hip joint axis when the only the hip joint has been moved as supposed). Equation (1) expresses the difference in the position and orientation indicator coordinate system, but it can just as well be expressed in the world coordinate system by:
  • the w-component is omitted and the x, y and z component of different samples of the 4-dimensional quaternion w ⁇ are plotted in a 3 dimensional graph. Then, a plot like the dots in Fig. 5 is obtained. As can be seen in Fig. 5, the dots lie on a line (indicated by a dashed line in Fig. 5). In this representation, the x-, y- and z-components are along the axes.
  • Fig. 5 exemplarily shows either S Q ⁇ S ⁇ or W Q ⁇ w ⁇ as dots.
  • this method does not only apply to find the rotation axis of the hip joint, obviously it can be used to find the rotation axis of any part of the body (appropriately provided with a position and orientation indicator).
  • the rotation axis could either be expressed in the world coordinate frame (using a principal component analysis of W Q ⁇ W ⁇ ) or m the position and orientation indicator coordinate frame (using However, for therapists and patients it is much more intuitive to express the rotation axis of the joint in a combination of the world coordinate system and the position and orientation indicator coordinate system. Namely: For a twist of the leg (rotating knee and foot inward and outward, shown in Fig. Ib) it is natural to express the rotation axis in the local coordinate frame, whereas for lifting the leg (rotating the leg forward or sideway, shown in Fig. Ia and Fig.
  • first and second position and orientation indicators 2, 4 can e.g. be attached to the first body part 3 and the second body part 5, respectively, by means of flexible elastic straps comprising pouches for accommodating the respective position and orientation indicators.
  • at least one rotational degree of freedom of the alignment between the position and orientation indicator and the corresponding body part can be made fixed due to specific attachment.
  • the first position and orientation indicator 2 is attached to the first body part 3 by means of a strap 7 and the second position and orientation indicator 4 is attached to the second body part 5 by means of a strap 9.
  • the shape of the straps 7, 9 and of the first and second position and orientation indicators 2, 4 is selected such that rotation about the local z-axis (e.g. the us z-axis or the LS z-axis) of the position and orientation indicators 2, 4 is prevented.
  • Fig. 4a schematically shows that, in case of a suitable design of the straps and of the position and orientation indicators, rotation about the local z-axis of the respective position and orientation indicators is prevented.
  • Figs. 4b and 4c schematically show that the orientation of the position and orientation indicators 2, 4 with respect to their local y-axis (Fig. 4b) and with respect to their local x-axis (Fig. 4c) is not fixed, i.e. the respective position and orientation indicator is not aligned with respect to these axes.
  • this alignment parameter can be assumed to be zero or some other constant.
  • the local x-axis of the respective position and orientation indicator In case of the body part being a (lower or upper) leg, rotation about the x-axis is not restricted (i.e. whether the position and orientation indicator is worn on the "front" of the leg or on the "side” of the leg). Similarly, with respect to the local y-axis of the position and orientation indicator, the local y-axis is not fixed, since it cannot be predetermined how cone shaped the patient's leg is.
  • two alignment parameters (the position of the x-axis and the position of the y-axis of the local position and orientation indicator coordinate system with respect to the local coordinate system of the corresponding body part) remain unknown.
  • equation (3) expresses the difference in the position and orientation indicator coordinate system.
  • the position and orientation indicator is attached to the body part such that the x-axis of the position and orientation indicator is along the direction (of extension) of the body part
  • the twist rotation of the joint is along the x-axis of the quaternion be decomposed into its three Euler angles heading, pitch, roll (in that order!) where the roll angle is the twist angle of the leg.
  • the roll angle ⁇ (which is equal to the twist angle) can be calculated by:
  • the quaternion L Qrolls is the rotation from the S-coordinate system (with roll) to the L-coordinate system (without roll).
  • this parameter can be used to give feedback to the patient.
  • this parameter can be used to give feedback to the patient.
  • this parameter can be used to give feedback to the patient.
  • this parameter can be used to give feedback to the patient.
  • this parameter can be used to give feedback to the patient.
  • this feedback can be provided as a message (e.g. visually on a suitable display or as speech via speakers) to the user like "Do not twist your leg".
  • this feedback can also be signaled in a different way such as e.g. visually via suitable lamps or the like or as a specific sound.
  • the feedback can also be provided such that it has increasing intensity with increasing value of the angle ⁇ .
  • the device is structured to determine (as a second parameter) the direction in which a joint is rotated, excluding twist (using a principal component analysis of a sequence of equation (6)). In this way, it can e.g. be detected whether a leg is lifted to the front or to the side (in case of a hip joint movement).
  • the control unit is further provided with suitable predefined information to determine whether the detected movement is desired or not. This can e.g. be realized by suitable threshold values set in a memory.
  • the device gives a feedback to the user, e.g. by providing a comment such as "Try to lift you leg sidewards, not forwards.” or by another way of appropriate signaling.
  • a third parameter that can be extracted from a sequence of equation (6) is how well the "cloud" of data points (the points in Fig. 5) forms a straight line. If the points form a perfect line through the origin, it means that the patient is moving such that the joint has a constant rotation axis which is not varying over time. Effectively this means that the body part is moving within a plane (this plane does not need to be horizontal or vertical) which is desirable for most physiotherapy exercises. However, when the "cloud" of data points is broad, or does not form a straight line, the movement of the body part is not within a plane.
  • the device according to the embodiment is structured such that the control unit 100 is adapted to evaluate this parameter. This can e.g.
  • the feedback can also be provided visually or as a sound or speech in a different way.
  • a second position and orientation indicator may be worn on the body of the patient (for example on the chest) to determine in which compass direction the patient is standing, and thus relate the rotation axis of the joint not to a world fixed coordinate frame, but to a patient-fixed coordinate frame.
  • the rotation axis can still be determined if position and orientation indicators are worn on both sides of the joint during exercising (such as the first position and orientation indicator 2 worn "above” the knee joint and the second position and orientation indicator 4 worn “below” the knee joint for analyzing the rotation axis of the knee joint).
  • position and orientation indicators are worn on both sides of the joint during exercising (such as the first position and orientation indicator 2 worn "above” the knee joint and the second position and orientation indicator 4 worn “below” the knee joint for analyzing the rotation axis of the knee joint).
  • all the rotations of one of the position and orientation indicators have to be expressed with respect to the other one of the position and orientation indicators instead of with respect to a "world- fixed" reference system.
  • the equations given above can still be used in this case; however the W signifying the "world- fixed" reference system has to be replaced by the corresponding information relating to the respective other position and orientation indicator.
  • the position and orientation indicator readings of the first position and orientation indicator 2 have to be set in relation to the position and orientation indicator readings of the second position and orientation indicator 4 instead of in relation to the world- fixed system or vice versa.
  • the rotation axis of a joint is determined from the position and orientation indicator readings of a position and orientation indicator without requiring alignment of the position and orientation indicator to the body part adjacent to the joint. From the thus-determined rotation axis, three different parameters are calculated.
  • the rotation axis is expressed in a local coordinate frame for the twist, and in a world- fixed or global coordinate frame for the other two degrees of freedom. Further, these parameters are used to provide certain feedback to a patient or to a physiotherapist.
  • the device for monitoring the movement is provided with a control unit adapted to perform the described steps.

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Abstract

L'invention concerne un procédé de détermination de l'axe de rotation (R) d'une articulation, le procédé comportant les étapes consistant à : fixer un indicateur (2, 4) de position et d'orientation à une partie (3, 5) du corps adjacente à une articulation ; faire bouger l'articulation et détecter les mouvements résultants de l'indicateur (2, 4) de position et d'orientation par rapport à un système de référence ; déterminer des orientations instantanées (WQ) de l'indicateur (2, 4) de position et d'orientation à différents instants à partir des mouvements détectés de l'indicateur de position et d'orientation ; déterminer une orientation moyenne (|WQS|) de l'indicateur de position et d'orientation à partir des mouvements détectés de l'indicateur de position et d'orientation ; et déterminer un axe de rotation (R) de l'articulation sur la base des orientations instantanées et de l'orientation moyenne.
PCT/IB2010/050112 2009-01-16 2010-01-12 Procédé de détermination de l'axe de rotation d'une articulation et dispositif de surveillance des mouvements d'au moins une partie du corps Ceased WO2010082157A1 (fr)

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EP09150738.4 2009-01-16

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Cited By (5)

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CN104434115A (zh) * 2013-11-25 2015-03-25 安徽寰智信息科技股份有限公司 一种人体运动的捕获方法
CN107802268A (zh) * 2017-12-02 2018-03-16 北京工业大学 一种人体肘关节前屈后伸及前臂旋内旋外瞬时螺转轴测量方法
CN108013880A (zh) * 2017-12-02 2018-05-11 北京工业大学 一种人体肘关节前屈后伸绕瞬时动心运动的瞬时动心测量方法
US11849415B2 (en) 2018-07-27 2023-12-19 Mclaren Applied Technologies Limited Time synchronisation
US11898874B2 (en) 2019-10-18 2024-02-13 Mclaren Applied Technologies Limited Gyroscope bias estimation

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US20060064043A1 (en) * 2003-03-27 2006-03-23 Aesculap Ag & Co. Kg Method and device for determining an articulation point of two bones
EP1938749A2 (fr) * 2006-12-27 2008-07-02 DePuy Products, Inc. Appareil de surveillance de gamme de mouvements d'un joint
US20080285805A1 (en) 2007-03-15 2008-11-20 Xsens Technologies B.V. Motion Tracking System

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Publication number Priority date Publication date Assignee Title
WO2000048507A1 (fr) * 1999-02-16 2000-08-24 Frederic Picard Optimisation de l'alignement d'un appendiculaire
US20060064043A1 (en) * 2003-03-27 2006-03-23 Aesculap Ag & Co. Kg Method and device for determining an articulation point of two bones
EP1938749A2 (fr) * 2006-12-27 2008-07-02 DePuy Products, Inc. Appareil de surveillance de gamme de mouvements d'un joint
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CN104434115A (zh) * 2013-11-25 2015-03-25 安徽寰智信息科技股份有限公司 一种人体运动的捕获方法
CN107802268A (zh) * 2017-12-02 2018-03-16 北京工业大学 一种人体肘关节前屈后伸及前臂旋内旋外瞬时螺转轴测量方法
CN108013880A (zh) * 2017-12-02 2018-05-11 北京工业大学 一种人体肘关节前屈后伸绕瞬时动心运动的瞬时动心测量方法
CN107802268B (zh) * 2017-12-02 2019-12-03 北京工业大学 一种人体肘关节前屈后伸及前臂旋内旋外瞬时螺转轴测量方法
CN108013880B (zh) * 2017-12-02 2019-12-20 北京工业大学 一种人体肘关节前屈后伸绕瞬时动心运动的瞬时动心测量方法
US11849415B2 (en) 2018-07-27 2023-12-19 Mclaren Applied Technologies Limited Time synchronisation
US11898874B2 (en) 2019-10-18 2024-02-13 Mclaren Applied Technologies Limited Gyroscope bias estimation

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