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    • 专利摘要:
    Procedure, control module and software product to control a system to measure the amount of scaphoid displacement of a subject. It refers to a method (30) for controlling, through a control module (11), a system (10) for measuring the amount of scaphoid displacement, the control module comprising, a first sensor (12) to provide a signal to obtain the position of the scaphoid and a second sensor (13) configured to provide a signal to indicate the start of a step. It comprises receiving a signal from the second sensor indicative of the beginning of a step; obtain the position of the scaphoid from a signal from the first sensor; compare the position of the scaphoid with the threshold value; if the value obtained from the position of the scaphoid is lower than the threshold value, update the threshold value with the value obtained from the position of the scaphoid, return to the stage of obtaining the position of the scaphoid; If the value obtained from the position of the scaphoid is greater than the threshold value, determine the amount of displacement of the scaphoid from the maximum value and the minimum value of the position of the scaphoid obtained. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2736261A1
    申请号:ES201830638
    申请日:2018-06-25
    公开日:2019-12-27
    发明作者:Castro María Macarena Varela；Bautista Carolina Rosende；Pillado Teresa Seoane
    申请人:Universidade da Coruna；
    IPC主号:
    专利说明:

    [0001] Procedure, control module and software product to control a system to measure the amount of scaphoid displacement of a subject
    [0002]
    [0003] The present description refers to a procedure for controlling a system to measure the amount of scaphoid displacement of a subject. In addition, the present description also refers to a control module and / or a computer program product suitable for implementing the procedure.
    [0004]
    [0005] The present invention belongs to the medical equipment sector applied to podiatry.
    [0006]
    [0007] STATE OF THE PREVIOUS TECHNIQUE
    [0008]
    [0009] The scaphoid is a bone located in the foot of a subject, which is of great importance in the biomechanics of its march. More specifically, the scaphoid bone is located in the midfoot, between the head of the talus and the three wedges, that is, it is a bone that occupies the center of the longitudinal plantar arch.
    [0010]
    [0011] In previous systematic reviews and meta-analysis, the amount of scaphoid displacement is a parameter that is considered a predictive value of one of the movements of the subastragaline joint (foot joint) in the sagittal plane.
    [0012]
    [0013] More specifically, the increase in the route of the scaphoid, as a result of the excess pronation of the subastragaline joint (hereinafter ASA), has been identified in various meta-analyzes as a risk factor for injuries to the lower limb due to overuse. In orthopodological therapeutics, the prescription of plantar orthoses is common, whose biomechanical objective is the decrease in the pronation path of the ASA, which can be assessed from mobility in the sagittal plane of the scaphoid. At present, there are no systems available to verify this movement in the sagittal plane in real situations, limiting existing analyzes to artificial spaces or by analyzing pressures in the transverse plane.
    [0014]
    [0015] In this way, the known and available systems for measuring the height of the scaphoid can be differentiated between:
    [0016] • Radio stereometric analysis, Roetgen stereophotogrammetry ;
    [0017] • Sequential video analysis system;
    [0018] • Polipower sensor, capacitive sensor.
    [0019]
    [0020] Radio-stereometric analysis implies the need to perform measurements in an enclosed space and subject the patient to radiation, so its use is very limited.
    [0021]
    [0022] The sequential video analysis system consists of a set of devices and computer programs that, from the recording of the movement of a subject, is capable of transferring said movement to a digital model for different purposes. Like the previous one, its main drawback is the need to perform the tests in an enclosed space and, therefore, artificial. In addition, measurements have to be made without shoes.
    [0023]
    [0024] Finally, the Polipower sensor is a portable capacitive sensor that, located on the inner edge of the foot, facilitates the height of the scaphoid of the study subject. This system, despite presenting the advantage of being portable and harmless to the study subject, does not have a device included in it that indicates the beginning of the step, but it is the examiner himself who, in view of the data provided by the sensor, set the value and moment in which it occurs.
    [0025]
    [0026] Therefore, the main drawbacks of known technologies for measuring the amount of scaphoid displacement of a subject are:
    [0027] • Radiation exposure of the study subject;
    [0028] • There is no portability, it is only possible to use it in closed rooms;
    [0029] • Its application with footwear is not possible;
    [0030] • Subjective calculation by the observer of the moment in which the beginning of the passage of the study subject is considered.
    [0031]
    [0032] Consequently, there is a need for a system that at least partially solves the problems mentioned above.
    [0033]
    [0034] EXPLANATION OF THE INVENTION
    [0035]
    [0036] According to a first aspect, a method is provided for controlling, through a control module, a system for measuring the amount of displacement of the Scaphoid of a subject. This system may comprise the control module, a first sensor element configured to provide an electrical signal to the control module to obtain the position that the scaphoid occupies at each instant and a second sensor element configured to provide an electrical signal to the control module for indicate the beginning of a step of the subject. The procedure may include:
    [0037] - receive an electrical signal from the second sensor element indicative of the start of a passage of the subject;
    [0038] from the reception of this electrical signal indicative of the beginning of the subject's passage and from a threshold value with an initial value greater than any possible value of the subject's scaphoid position:
    [0039] - obtain a value of the subject's scaphoid position from an electrical signal provided by the first sensor element, in an instant of time; - compare the value obtained from the position of the scaphoid, with the threshold value;
    [0040] If the value obtained from the position of the scaphoid is lower than the threshold value:
    [0041] - update the threshold value with the value obtained from the position of the scaphoid;
    [0042] - return to the stage of obtaining a value of the scaphoid position of the subject from an electrical signal provided by the first sensor element;
    [0043] If the value obtained from the position of the scaphoid is greater than the threshold value:
    [0044] - determine the amount of scaphoid displacement of the subject from the maximum value obtained from the position of the scaphoid and the minimum value obtained from the position of the scaphoid.
    [0045]
    [0046] In this way, the procedure can be applicable to all the human beings under study and allows obtaining reliable data that enable its application to podiatry science in the field of diagnosis and treatment of conditions. For example, it may be appropriate, in clinical practice, to check the ability of the biomechanical effect of plantar orthoses.
    [0047]
    [0048] On the other hand, the described procedure allows the quantification of the real movement of the scaphoid tuber in the sagittal plane in a portable way, allowing to observe the real movement of the same in the subject to be evaluated.
    [0049]
    [0050] In addition, the procedure allows obtaining objective data obtained electronically without the need for external intervention (for example, by a healthcare professional), which could introduce visualization errors in the measures.
    [0051] In general, the procedure allows to know the movement of the subastragaline joint in subjects with different types of footwear and wearing orthotic treatments (that is, it allows simulating the measurement of the “navicular drop” during the dynamics). Thus, it can be used to evaluate the effect of podiatric treatments of all kinds (foot therapy, plantar orthosis, muscle strengthening, etc.) aimed at controlling the movements of the subastragaline joint. Mainly, the movement that you want to control is a pronation, which causes significant differences in the height in the sagittal plane of the scaphoid tuber at different times of the support phase and which has been recognized as a mechanism that causes foot injuries and on the leg
    [0052]
    [0053] In summary, from the execution of the described procedure it is possible to measure during the dynamics in barefoot, footwear and with orthotic treatments, the “navicular drop” or measurement of the height of the scaphoid tuber in the sagittal plane, taking measurements at different times of the support phase that allow to evaluate the amount of pronation at different times of this phase. Being a portable device, of low weight and small size, allows the subject to carry it in normal conditions of activity (during training, competitions, etc.) wearing different types of footwear and different orthotic treatments.
    [0054]
    [0055] In some examples, the method may comprise storing in a memory the value obtained from the position of the scaphoid. It can also comprise storing in a memory the instant of time in which the value of the position of the scaphoid is obtained.
    [0056]
    [0057] In this way, all the data obtained can be analyzed. For example, with the storage of these data it is possible to determine the maximum value obtained from the position of the scaphoid and the minimum value obtained from the position of the scaphoid, among all the values obtained.
    [0058]
    [0059] On the other hand, the procedure may include sending the value of the position of the scaphoid obtained to an external system. In the same way, it can also include sending the instant of time in which the value of the position of the scaphoid is obtained, to an external system. From this external system it is possible to carry out a greater analysis of the data obtained throughout the execution of the procedure, and show them to a third party (for example, to a healthcare professional) for evaluation and control. This external system it can be, for example, a laptop or desktop computer, a computer network, a smartphone or a tablet.
    [0060]
    [0061] According to some examples, the step of obtaining a value of the scaphoid position of the subject from an electrical signal provided by the first sensor element, in an instant of time may comprise:
    [0062] or receive the electrical signal from the first sensor element indicative of the acceleration of the subject's scaphoid;
    [0063] or obtain the value of the position of the scaphoid based on the received value of acceleration of the subject's scaphoid.
    [0064]
    [0065] According to some examples, the method may comprise, if the value of the position of the scaphoid obtained is greater than the threshold value, update the threshold value with a value greater than any possible value of the position of the subject's scaphoid, so that the threshold value is already It will be initialized at the time of the next execution of the procedure described.
    [0066]
    [0067] According to a second aspect, a computer program product is provided. This computer program product may comprise program instructions to cause a control module to perform a procedure to control a system to measure the amount of scaphoid displacement of a subject, such as described above.
    [0068]
    [0069] The computer program may be stored in physical storage media, such as recording media, a computer memory, or a read-only memory, or it may be carried by a carrier wave, such as electrical or optical.
    [0070]
    [0071] According to a third aspect, a control module of a system is provided to measure the amount of scaphoid displacement of a subject. This system may comprise the control module, a first sensor element configured to provide an electrical signal to the control module to obtain the position that the scaphoid occupies at each instant and a second sensor element configured to provide an electrical signal to the control module for indicate the beginning of a step of the subject. The control module may comprise:
    [0072] - means for receiving an electrical signal from the second sensor element indicative of the start of a passage of the subject;
    [0073] - means for obtaining a value of the subject's scaphoid position from an electrical signal provided by the first sensor element, in an instant of time;
    [0074] - means for comparing the value obtained from the position of the scaphoid, with a threshold value having an initial value greater than any possible value of the position of the subject's scaphoid;
    [0075] - means for updating the threshold value with the value obtained from the position of the scaphoid, if the value obtained from the position of the scaphoid is lower than the threshold value;
    [0076] - means for returning to the stage of obtaining a value of the scaphoid position of the subject from an electrical signal provided by the first sensor element, if the value obtained from the position of the scaphoid is lower than the threshold value;
    [0077] - means for determining the amount of scaphoid displacement of the subject from the maximum value obtained from the position of the scaphoid and the minimum value obtained from the position of the scaphoid, if the value obtained from the position of the scaphoid is greater than the threshold value.
    [0078]
    [0079] According to another aspect, a control module is provided. This control module may comprise a memory and a processor. The memory can store computer program instructions executable by the processor. These instructions may comprise functionalities to execute a procedure to control a system to measure the amount of scaphoid displacement of a subject, such as that described above.
    [0080]
    [0081] According to yet another aspect, a control module of a system is provided to measure the amount of scaphoid displacement of a subject. This system may comprise the control module, a first sensor element configured to provide an electrical signal to the control module to obtain the position that the scaphoid occupies at each instant and a second sensor element configured to provide an electrical signal to the control module for indicate the beginning of a step of the subject. The control module can be configured to:
    [0082] - receive an electrical signal from the second sensor element indicative of the start of a passage of the subject;
    [0083] from the reception of this electrical signal indicative of the beginning of the subject's passage and from a threshold value with an initial value greater than any possible value of the subject's scaphoid position:
    [0084] - obtain a value of the subject's scaphoid position from an electrical signal provided by the first sensor element, in an instant of time; - compare the value obtained from the position of the scaphoid, with the threshold value;
    [0085] If the value obtained from the position of the scaphoid is lower than the threshold value:
    [0086] - update the threshold value with the value obtained from the position of the scaphoid;
    [0087] - return to the stage of obtaining a value of the scaphoid position of the subject from an electrical signal provided by the first sensor element;
    [0088] If the value obtained from the position of the scaphoid is greater than the threshold value:
    [0089] - determine the amount of scaphoid displacement of the subject from the maximum value obtained from the position of the scaphoid and the minimum value obtained from the position of the scaphoid.
    [0090]
    [0091] In some examples, the first sensor element may be configured to be arranged in the subject's scaphoid tuber.
    [0092]
    [0093] According to some examples, the first sensor element may comprise an inertial sensor, which may in turn comprise at least one gyroscope and an accelerometer.
    [0094]
    [0095] On the other hand, the second sensor element may be configured to be arranged on the outer side of the subject's foot.
    [0096]
    [0097] In some examples, the second sensor element may comprise a pressure sensor.
    [0098]
    [0099] According to some examples, the control module may further comprise a memory. This memory can be used, for example, to store the values obtained from the position of the subject's scaphoid, as well as the instant of the time in which they are obtained.
    [0100]
    [0101] In another aspect, a system for measuring the amount of scaphoid displacement of a subject is provided. This system may include:
    [0102] - a control module, as described above;
    [0103] - a first sensor element configured to provide an electrical signal to the control module to obtain the position occupied by the scaphoid at each instant; - a second sensor element configured to provide an electrical signal to the control module to indicate the start of a passage of the subject;
    [0104] - a power module to provide power to at least the first sensor element, the second sensor element and the control module.
    [0105]
    [0106] In some examples, the system may further comprise an ankle brace or the like configured to hold at least the control module and the power module to the subject.
    [0107]
    [0108] Other objects, advantages and features of embodiments of the invention will be apparent to the person skilled in the art from the description, or can be learned with the practice of the invention.
    [0109]
    [0110] BRIEF DESCRIPTION OF THE DRAWINGS
    [0111]
    [0112] In the following, particular embodiments of the present invention will be described by way of non-limiting example, with reference to the accompanying drawings, in which:
    [0113]
    [0114] Figure 1 shows a block diagram of a system for measuring the amount of scaphoid displacement of a subject, according to some examples;
    [0115] Figure 2 shows a schematic representation of the arrangement at the foot of a subject of a system, such as that of Figure 1, for measuring the amount of scaphoid displacement of a subject, according to some examples;
    [0116] Figure 3 shows a flow chart of a procedure for controlling, through a control module, a system, such as that of Figure 1, for measuring the amount of scaphoid displacement of a subject, according to some examples ;
    [0117] Figure 4 shows a graphic representation of the movement of the scaphoid of a subject during a step.
    [0118]
    [0119] DETAILED EXHIBITION OF REALIZATION MODES
    [0120]
    [0121] As can be seen in Figure 1, a system 10 for measuring the amount of scaphoid displacement of a subject can comprise:
    [0122] • a control module 11;
    [0123] • a first sensor element 12 configured to provide an electrical signal to the control module 11 to obtain the position occupied by the scaphoid at each instant. This first sensor element is connected to the control module;
    [0124] • a second sensor element 13 configured to provide an electrical signal to the control module 11 to indicate the start of a passage of the subject. This second sensor element is connected to the control module;
    [0125] • a power module 14 to provide power to at least the first sensor element 12, the second sensor element 13 and the control module 11.
    [0126]
    [0127] In addition, the system 10 may also comprise a memory (not shown), which may be internal or external to the control module 11. This memory may be in the form of, for example, physical storage media, such as recording media, a computer memory, or a read-only memory. Thus, the memory may comprise storage means, such as a ROM, for example, a CD ROM or a semiconductor ROM , or a magnetic recording medium, for example, a hard disk, or a solid state drive (SSD) . The purpose of this report, among others, is to store the different values obtained from the position of the scaphoid of a subject under study, as well as, for example, the time in which said obtaining occurred.
    [0128]
    [0129] On the other hand, the communication between the different elements of the system 10 can be carried out in a wired or wireless manner. In the case of a wired communication, the connection can be made by means of a wiring (for example, of copper) fixed between the different sensor elements 12,13 and the control module 11, or by means of serial ports, such as USB, micro USB, mini USB, Firewire or Ethernet. In the case of wireless communications, if the control module 11 is within a short distance of the different sensor elements 12,13, the connection can be made via short-range wireless communication modules, for example, Bluetooth, NFC, Wifi, IEEE 802.11 or Zigbee (both the sensor elements and the control module should comprise communication modules of this type). If the communications are long-range (that is, the control module 11 is an important distance from the different sensor elements 12,13), the connection can be made using communications modules based on GSM, GPRS, 3G, 4G technology or satellite technology (for example, if the communication is done through a global communication network, such as Internet), or even through a communications network for Internet of Things (loT-in English, "Internet of Things") (both the sensor elements and the control module should comprise communication modules of this type).
    [0130]
    [0131] With respect to the possibility of using an IoT network, it could be of the type that uses low energy and high coverage technology. The fact that its energy consumption is reduced allows the system to operate for very long periods of time, without requiring recharging of batteries. This communications network can be selected, for example, from an IoT Sigfox, LoRA, Wightlees or OnRamp network.
    [0132]
    [0133] The first sensor element can be an inertial sensor 12. This inertial sensor can be, in the present examples, an inertial sensor MPU-60X0, whose dimensions are 1.6x0.1x2 cm, with a total weight of 4.53 gr. This inertial sensor has integrated a 3-axis MEMS gyroscope, a 3-axis MEMS accelerometer, and a digital motion processor (DMPTM) with an auxiliary I2C port to connect with the rest of the electronic elements. Integration into a single accelerometer and gyroscope element has the advantage of a more compact design in addition to a single data flow for the application. The MPU-60X0 is designed to interact with multiple digital sensors, such as the pressure sensor that will be described later. The MPU-60X0 sensor is very precise because it has a 16-bit A / D hardware converter for each channel, for the digitalization of the outputs. The sensor uses the I2C bus to interconnect with the control module 11 and send the processed data. As can be seen in Figure 2, the inertial sensor can be placed or placed in the tubercle of the scaphoid of the study subject, for example, by circular adhesive velcro. The objective of this first sensor element 12 is to provide in real time, from electrical signals, the position that the scaphoid occupies at all times. This data can be sent to the control module 11, which can be stored in an electronic file in temporal order according to the internal clock of the control module 11 itself. Stored values may comprise the 3 values provided by the gyroscope on each axis of space and the 3 values of the accelerometer equally for each spatial axis.
    [0134]
    [0135] Other examples of inertial sensors are Sparkfun IMU BreakoutMPU-9250 from Sparkfun electronics, model SEN-0531; MPU-9250 Nine-Axis (Gyro Accelerometer Compass) MEMS MotionTracking ™ Device from Invensense TDK.
    [0136] The second sensor element 13 can be, for example, a pressure sensor. In the present examples, the pressure sensor is located on the outer side of the foot of the subject, as can be seen in Figure 2. In addition, the pressure sensor comprises a pressure area of 1.27 cm2, dimensions of 6x1.9 cm and a weight of 9.07gr. This sensor varies its resistance depending on the force incident in the measurement area. The connection to the control module 11 can be made through one of the digital pins in in-PUT mode. This sensor works digitally, specifying by means of software that the signal transmission occurs when it exceeds, for example, 10 Kg, a value that is higher than the pressure that the footwear would exert on the heel if there is no standing. This sensor is responsible for providing the control module 11 with the moment at which the subject under study begins the step. In this way, it is possible to eliminate the intervention of an examiner, thereby gaining a totally objective precision by avoiding human error.
    [0137]
    [0138] Examples of pressure sensors are Sparkfun SEN-09375, Hetpro.
    [0139]
    [0140] The power module 14 must provide the power necessary for the proper functioning of the system 10 and provide it with the portability feature. Thus, it can be composed, in the present examples, of 4 1.5V AAA batteries that generate a voltage of 6V, sufficient for the system used. The power module 14 can have dimensions of 6.2x4.7x1.8 cm and a weight of 81.6 gr. It can be configured in rigid plastic and can comprise two power cables and an external switch for its on / off. The connection of this can be done through the VIN pin, which is located in the group of power and ground pins, fulfilling the function of constant 6V power supply directly to the input of the microprocessor card regulator, which will be described below as a possible configuration of the control module 11. In this case, the main drawback would be the lack of protection against changes in polarity or system overfeeding. This fact is obvious since the power is constant when performed using AAA batteries and they also do not change polarity due to their own essence of continuous power supply.
    [0141]
    [0142] With respect to the control module 11, it can be implemented with a fully computerized, fully electronic configuration or by a combination of both.
    [0143]
    [0144] In the event that the control module 11 is purely computer, the module may comprise a memory and a processor (for example, a microprocessor), in which the memory stores computer program instructions executable by the processor, these instructions comprising functionalities for executing a procedure for controlling system 10, the procedure of which will be described later.
    [0145]
    [0146] The memory can be comprised in the processor or it can be external. In the case that it is external, it can be, for example, data storage means such as magnetic disks (for example, hard disks), optical disks (for example, DVD or CD), memory cards, flash memories ( for example, pendrives) or solid state drives (RAM-based, flash-based SSDs, etc.). This memory may be part of the control module 11 itself and / or may be remotely disposed thereto, wired or wirelessly connected. In the case of remote arrangements, the communication established between the control module 11 and the memory can be ensured by, for example, username / password, cryptographic keys and / or by an SSL tunnel established in the communication between the module 11 of control and memory.
    [0147]
    [0148] The set of computer program instructions executable by the processor (such as a computer program) may be stored in physical storage media, as discussed, but may also be carried by a carrier wave, such as electrical or optical, which can be transmitted via electrical or optical cable or by radio or other means.
    [0149]
    [0150] The computer program may be in the form of source code, object code or an intermediate code between source code and object code, such as partially compiled form, or in any other form suitable for use in the implementation of the described procedures.
    [0151]
    [0152] The carrier medium can be any entity or device capable of carrying the program.
    [0153]
    [0154] When the computer program is contained in a signal that can be transmitted directly by means of a cable or other device or medium, the carrier medium may be constituted by said cable or other device or medium.
    [0155]
    [0156] Alternatively, the carrier means may be an integrated circuit in which the computer program is encapsulated ( embedded) , said integrated circuit being adapted to perform or for use in performing the relevant procedures.
    [0157] Examples of a purely computer control module 11 may be Arduino uno, Smart Projects; Arduino pro, Sparkfun electronics; Arduino nano, Gravitech.
    [0158]
    [0159] On the other hand, the control module 11 can have a purely electronic configuration, so it could be formed by a programmable electronic device such as a CPLD ( Complex Programmable Logic Device), an FPGA ( Field Programmable Gate Array) or an ASIC ( Application-Specific Integrated Circuit).
    [0160]
    [0161] In addition, the control module 11 could also present a hybrid configuration between computer and electronics. In this case, the module should comprise a memory and a microcontroller to implement a part of its functionalities, as well as certain electronic circuits to implement the rest of the functionalities.
    [0162]
    [0163] In some examples, the control module 11 may have a purely computer configuration. For this reason, the control module can comprise a microprocessor, which is responsible for managing the data provided by both sensors and storing them in a digital file. The data reflected in this may be the position value of the scaphoid that is obtained when the pressure sensor is activated (moment of maximum height of the scaphoid), until the value provided by the inertial sensor is greater than the one immediately provided. the data in said file is re-verified until the pressure sensor is activated again, a moment that will indicate the start of another new step. This achieves the temporal sequence of the position of the scaphoid from its highest height to the smallest.
    [0164]
    [0165] More specifically, the control module 11 can be based, in some examples, on an Arduino-Nano microcontroller , whose dimensions are 9.7x6x4.2 cm and a total weight of 18.1 gr. Basically, it consists of 14 digital input / output ports, 8 analog ports, a 16KB memory, 1KB of SRAM and 512 bytes of EPROM. It has a processing speed, ClockSpeed, of 16MHz. The communication for programming is done through a mini-B USB connector integrated in the board itself. The connection between the microprocessor and the inertial sensor is made through the I2C connections, as previously mentioned, 7 and with the pressure sensor on the digital pins.
    [0166] Additionally, the system 10 for measuring the amount of scaphoid displacement of a subject may also comprise an element for attaching, for example, the power module 14 and / or the control module 11, to the subject. This element can be presented in the form of an ankle brace or the like, which can be made of elastane and polyester. In addition, this fastener may have an adjustable strap to securely fix it to the subject under study, and pockets and the like to receive the power module and / or the control module.
    [0167]
    [0168] In any case, whatever the implementation of the control module 11 (computing, electronic or hybrid), it must be configured to execute a procedure 30 to control a system 10 to measure the amount of scaphoid displacement of a subject, whose Procedure can comprise the following stages:
    [0169] - receiving 31 an electrical signal from the second sensor element 13 indicative of the start of a passage of the subject;
    [0170] from the reception of this electrical signal indicative of the beginning of the subject's passage and from a threshold value with an initial value greater than any possible value of the subject's scaphoid position:
    [0171] - obtaining 32 a value of the subject's scaphoid position from an electrical signal provided by the first sensor element 12, in an instant of time; - compare 33 the value obtained from the position of the scaphoid, with the threshold value; If the value obtained from the position of the scaphoid is lower than the threshold value:
    [0172] - update 34 the threshold value with the value obtained from the position of the scaphoid;
    [0173] - return to the stage of obtaining a value of the scaphoid position of the subject from an electrical signal provided by the first sensor element;
    [0174] If the value obtained from the position of the scaphoid is greater than the threshold value:
    [0175] - determine the amount of scaphoid displacement of the subject from the maximum value obtained from the position of the scaphoid and the minimum value obtained from the position of the scaphoid.
    [0176]
    [0177] If the value obtained from the position of the scaphoid is greater than the threshold value, the procedure 30 may comprise initialization of the threshold value, that is, updating the threshold value with a value greater than any possible value of the position of the subject's scaphoid (by example, 50 cm). In this way, the threshold value for the next iteration of the procedure is initialized.
    [0178] In addition, the method 30 may also comprise storing the value obtained from the position of the scaphoid and / or the time in which this obtaining has occurred.
    [0179]
    [0180] On the other hand, the method 30 can also comprise sending the value obtained from the position of the scaphoid and / or the time in which this obtaining has occurred, to an external system, such as a personal or desktop computer, a computer network, a smartphone or a tablet. From this external system it is possible to carry out a greater analysis of the data obtained throughout the execution of the procedure and show it to a third party (for example, to a healthcare professional) for its evaluation and control. In this way, it would be possible to process them through, for example, "Big Data" and thus provide results that are useful to the professional.
    [0181]
    [0182] Depending on the configuration of the first sensor element 12, it may be necessary to perform a parameter conversion to determine the position value of the scaphoid at each instant. Thus, with the configuration described for the present examples, the procedure 30, to execute the step of obtaining a value of the subject's scaphoid position from an electrical signal provided by the first sensor element, in an instant of time, can Understand the following sub-stages:
    [0183] or receiving the electrical signal from the first sensor element 12 indicative of the acceleration of the subject's scaphoid;
    [0184] or obtain the value of the position of the scaphoid based on the received value of acceleration of the subject's scaphoid.
    [0185]
    [0186] The interesting data provided by the first sensor element 12 is simply the height or position value of the subject's scaphoid. The rest of the data can be ignored because they are not relevant to system 10. Basically, it is only interesting how the height or position of the scaphoid varies at a specific time of the march.
    [0187]
    [0188] The route of the relevant scaphoid, as can be seen in Figure 4, is the one that begins at the moment of heel support and, therefore, the one with the lowest height of the scaphoid. The beginning is indicated by the pressure sensor 13, which is arranged on the lateral-posterior edge of the foot, and the lower point of the scaphoid is checked recursively by the procedure.
    [0189] As mentioned above, the inertial sensor according to some examples can incorporate a 3DOF accelerometer, a 3DOF gyroscope, and a 3DOF magnetometer, so that they provide a value for each axis.
    [0190]
    [0191] The accelerometer measures the acceleration on each axis. The acceleration on the Z axis is 9.8 m / s2 (gravity), while the Y value can be obtained according to the formula:
    [0192]
    [0193] Á ng ul 0 Y = ta n 1 ( j = = )
    [0194]
    [0195] The gyroscope measures angular velocity (° / sec), so that:
    [0196]
    [0197] Angle Y = Angle Y previous Gyroscope Y * At
    [0198]
    [0199] where
    [0200] At = time elapsed each time the formula is consulted;
    [0201] Previous Y angle = angle calculated last time;
    [0202] Gyroscope Y = reading of the Y angle of the gyroscope.
    [0203]
    [0204] Therefore, the calculation of the position from the acceleration can be carried out as follows.
    [0205]
    [0206] A conventional inertial sensor allows to obtain angular velocity and acceleration directly among others. The position (x, y, z) must be calculated from the available measurements.
    [0207]
    [0208] To calculate the position it is necessary to perform numerical integration processes.
    [0209]
    [0210] If it is reduced to a single axis, the position with respect to time is a double integration:
    [0211]
    [0212]
    [0213]
    [0214] where
    [0215] a (t) = acceleration on the selected axis.
    [0216] In this way, the coordinate on said axis is obtained.
    [0217]
    [0218] One method of numerical integration that can be used is the trapezoidal rule, which estimates that the area under the curve approximates with trapezoids. Each trapezoid has an area resulting from the multiplication of the base by the average of the height of the sides.
    [0219]
    [0220] T h [f; a, b] = £ (f (a) f (b)) h Z 5 U f ( ajh)
    [0221]
    [0222] where
    [0223] a, b are the ends of the curve;
    [0224] h is the space between points of the curve.
    [0225]
    [0226] Since the acceleration is the variation of the velocity with respect to time and this in turn is defined as the variation of the position with respect to time, by performing a double integration the position is obtained. If the trapezoidal rule is applied to this integration, the value of the integral would be the area under the curve and its value, the sum of very small areas of width:
    [0227]
    [0228] £ f ( x) dx = lim n ^ OT Zf = i / ( xi) A x
    [0229] b —a AX = - n ---
    [0230]
    [0231] Using this concept of "area under the curve" it is possible to deduce that, by sampling the signal, data given by the acceleration inertial sensor, provide instantaneous values of its magnitude, so that small areas can be created between two samples and adding them together. get the value of the integral.
    [0232]
    [0233] Although only some particular embodiments and examples of the invention have been described herein, the person skilled in the art will understand that other alternative embodiments and / or uses of the invention are possible, as well as obvious modifications and equivalent elements. In addition, the present invention encompasses all possible combinations of the specific embodiments that have been described. The numerical signs relating to the drawings and placed in parentheses in a claim are only intended to increase the understanding of the claim, and should not be construed as limiting the scope of the claim's protection. The scope of the present invention should not be limited to specific embodiments, but should be determined only by an appropriate reading of the appended claims.
    权利要求:
    Claims (21)
    [1]
    1. Procedure (30) for controlling, through a control module (11), a system (10) for measuring the amount of scaphoid displacement of a subject, this system comprising the control module (11), a first sensor element (12) configured to provide an electrical signal to the control module (11) to obtain the position occupied by the scaphoid at each instant and a second sensor element (13) configured to provide an electrical signal to the control module (11) to indicate the beginning of a step of the subject, including the procedure:
    - receiving (31) an electrical signal from the second sensor element (13) indicative of the start of a passage of the subject;
    from the reception of this electrical signal indicative of the beginning of the subject's passage and from a threshold value with an initial value greater than any possible value of the subject's scaphoid position:
    - obtaining (32) a value of the subject's scaphoid position from an electrical signal provided by the first sensor element (12), in an instant of time; - compare (33) the value obtained from the position of the scaphoid, with the threshold value; If the value obtained from the position of the scaphoid is lower than the threshold value:
    - update (34) the threshold value with the value obtained from the position of the scaphoid; - return to the stage of obtaining (32) a value of the subject's scaphoid position from an electrical signal provided by the first sensor element (12); If the value obtained from the position of the scaphoid is greater than the threshold value:
    - determine (35) the amount of scaphoid displacement of the subject from the maximum value obtained from the position of the scaphoid and the minimum value obtained from the position of the scaphoid.
    [2]
    2. Method (30) according to claim 1, further comprising:
    - store in a memory the value obtained from the position of the scaphoid.
    [3]
    3. Method (30) according to any one of claims 1 or 2, further comprising:
    - store in a memory the instant of time in which the value of the position of the scaphoid is obtained.
    [4]
    4. A method (30) according to any one of claims 1 to 3, further comprising:
    - send the value of the position of the scaphoid obtained to an external system.
    [5]
    5. Method (30) according to any one of claims 1 to 4, further comprising:
    - send the instant of time in which the value of the position of the scaphoid is obtained, to an external system.
    [6]
    A method (30) according to any one of claims 1 to 5, wherein obtaining (32) a value of the subject's scaphoid position from an electrical signal provided by the first sensor element (12), in an instant of time includes:
    or receive the electrical signal from the first sensor element (12) indicative of the acceleration of the subject's scaphoid;
    or obtain the value of the position of the scaphoid based on the received value of acceleration of the subject's scaphoid.
    [7]
    Method (30) according to any one of claims 1 to 6, further comprising, if the value of the position of the scaphoid obtained is greater than the threshold value:
    - update the threshold value with a value greater than any possible value of the subject's scaphoid position.
    [8]
    8. Computer program product comprising program instructions to cause a control module to perform a procedure (30) according to any one of claims 1 to 7 to control a system (10) for measuring the amount of scaphoid displacement of a subject.
    [9]
    9. Software product according to claim 8, which is stored on recording media.
    [10]
    10. Software product according to claim 8, which is carried by a carrier signal.
    [11]
    11. Control module (11) of a system (10) for measuring the amount of scaphoid displacement of a subject, this system comprising the control module (11), a first sensor element (12) configured to provide an electrical signal to the control module (11) to obtain the position occupied by the scaphoid at each instant and a second sensor element (13) configured to provide an electrical signal to the control module (11) to indicate the beginning of a step of the subject, comprising the control module:
    - means for receiving an electrical signal from the second sensor element (13) indicative of the start of a passage of the subject;
    - means for obtaining a value of the subject's scaphoid position from an electrical signal provided by the first sensor element (12), in an instant of time;
    - means for comparing the value obtained from the position of the scaphoid, with a threshold value having an initial value greater than any possible value of the position of the subject's scaphoid;
    - means for updating the threshold value with the value obtained from the position of the scaphoid, if the value obtained from the position of the scaphoid is lower than the threshold value;
    - means for returning to the stage of obtaining a value of the subject's scaphoid position from an electrical signal provided by the first sensor element (12), if the value obtained from the position of the scaphoid is less than the threshold value; - means for determining the amount of scaphoid displacement of the subject from the maximum value obtained from the position of the scaphoid and the minimum value obtained from the position of the scaphoid, if the value obtained from the position of the scaphoid is greater than the threshold value.
    [12]
    12. Control module (11) comprising a memory and a processor, wherein the memory stores computer program instructions executable by the processor, these instructions comprising functionalities for executing a method (30) according to any one of claims 1 to 7 to control a system (10) to measure the amount of scaphoid displacement of a subject.
    [13]
    13. Control module (11) of a system (10) for measuring the amount of scaphoid displacement of a subject, this system comprising the control module (11), a first sensor element (12) configured to provide an electrical signal to the control module (11) to obtain the position that the scaphoid occupies at each instant and a second sensor element (13) configured to provide an electrical signal to the module (11) of control to indicate the start of a step of the subject, the control module (11) being configured to:
    - receiving (31) an electrical signal from the second sensor element (13) indicative of the start of a passage of the subject;
    from the reception of this electrical signal indicative of the beginning of the subject's passage and from a threshold value with an initial value greater than any possible value of the subject's scaphoid position:
    - obtaining (32) a value of the subject's scaphoid position from an electrical signal provided by the first sensor element (12), in an instant of time; - compare (33) the value obtained from the position of the scaphoid, with the threshold value; If the value obtained from the position of the scaphoid is lower than the threshold value:
    - update (34) the threshold value with the value obtained from the position of the scaphoid; - return to the stage of obtaining a value of the scaphoid position of the subject from an electrical signal provided by the first sensor element (12);
    If the value obtained from the position of the scaphoid is greater than the threshold value:
    - determine (35) the amount of scaphoid displacement of the subject from the maximum value obtained from the position of the scaphoid and the minimum value obtained from the position of the scaphoid.
    [14]
    14. Control module (11) according to any one of claims 11 to 13, wherein the first sensor element (12) is configured to be arranged in the subject's scaphoid tuber.
    [15]
    15. Control module (11) according to any one of claims 11 to 14, wherein the first sensor element comprises an inertial sensor (12).
    [16]
    16. Control module (11) according to claim 15, wherein the inertial sensor (12) comprises at least one gyroscope and an accelerometer.
    [17]
    17. Control module (11) according to any one of claims 11 to 15, wherein the second sensor element (13) is configured to be arranged on the outer side of the subject's foot.
    [18]
    18. Control module (11) according to any one of claims 11 to 17, wherein the second sensor element comprises a pressure sensor (13).
    [19]
    19. Control module (11) according to any one of claims 11 to 18, further comprising a memory.
    [20]
    20. System (10) for measuring the amount of scaphoid displacement of a subject, comprising:
    • a control module (11) according to any one of claims 11 to 19; • a first sensor element (12) configured to provide an electrical signal to the control module (11) to obtain the position occupied by the scaphoid at each instant;
    • a second sensor element (13) configured to provide an electrical signal to the control module (11) to indicate the start of a passage of the subject;
    • a power module (14) to provide power to at least the first sensor element (12), the second sensor element (13) and the control module (11).
    [21]
    21. System (10) according to claim 20, further comprising an ankle brace or the like configured to hold at least the control module (11) and the power module (14), to the subject.
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    同族专利:
    公开号 | 公开日
    WO2020002731A1|2020-01-02|
    ES2736261B2|2021-04-29|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20090165190A1|2007-12-27|2009-07-02|Takahiro Araki|Sock|
    US20120253234A1|2009-09-03|2012-10-04|Ming Young Biomedical Corp.|System and method for analyzing gait using fabric sensors|
    US20140336538A1|2011-09-22|2014-11-13|Ingeniørhøjskolen Aarhus Universitet|Stretch sensor device|
    US20150359457A1|2012-12-17|2015-12-17|Reflx Labs, Inc.|Foot-mounted sensor systems for tracking body movement|
    法律状态:
    2019-12-27| BA2A| Patent application published|Ref document number: 2736261 Country of ref document: ES Kind code of ref document: A1 Effective date: 20191227 |
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    ES201830638A|ES2736261B2|2018-06-25|2018-06-25|PROCEDURE, CONTROL MODULE, AND COMPUTER PROGRAM PRODUCT TO CONTROL A SYSTEM TO MEASURE THE AMOUNT OF SCAFOID DISPLACEMENT OF A SUBJECT|ES201830638A| ES2736261B2|2018-06-25|2018-06-25|PROCEDURE, CONTROL MODULE, AND COMPUTER PROGRAM PRODUCT TO CONTROL A SYSTEM TO MEASURE THE AMOUNT OF SCAFOID DISPLACEMENT OF A SUBJECT|
    PCT/ES2019/070437| WO2020002731A1|2018-06-25|2019-06-21|Method, control module and computer program product for controlling a system for measuring the amount of displacement of the scaphoid of the foot of a patient|
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