解剖学报

解剖学报 ›› 2021, Vol. 52 ›› Issue (6): 972-978.doi: 10.16098/j.issn.0529-1356.2021.06.022

• 解剖学 • 上一篇    下一篇

基于局部欧拉角的下肢关节运动仿真模拟

季达峰1 吴辉群1 吕广明2*
  

  1. 1.南通大学医学院医学信息学系数字医学中心; 2.南通大学医学院人体解剖学系，江苏 南通 226001
  • 收稿日期:2020-04-07 修回日期:2020-05-19 出版日期:2021-12-06 发布日期:2021-12-06
  • 通讯作者: 吕广明 E-mail:gmlu@ntu.edu.cn

Kinematic simulation of lower limb joints with local Euler angles

JI Da-feng1  WU Hui-qun1  Lü Guang-ming2*   

  1. 1.Digital Medical Center of Medical Informatics Department; 2.Department of Human Anatomy, Medical School, Nantong University, Jiangsu Nantong 226001,China
  • Received:2020-04-07 Revised:2020-05-19 Online:2021-12-06 Published:2021-12-06
  • Contact: Lü Guang-ming E-mail:gmlu@ntu.edu.cn

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摘要：

目的  探讨局部欧拉角在下肢关节运动仿真模拟中的参数及效果。   方法  下肢CT数据1套，分割并重建出髋骨、股骨、髌骨、胫骨、腓骨及足骨。将重建骨骼导入3DSMax中进行平滑、优化、轴转置等处理。将处理好的模型导入Unity3D中，结合局部欧拉角对髋、膝、踝和跖趾关节进行仿真模拟，对脚本进行测试并对相关参数进行调整。发布调整后的文件形成可执行文件。   结果  髋关节、膝关节、踝关节和跖趾关节运动符合实际情况并且不超出真实运动的范围（髋关节屈伸-170°～170°，展收-30°～80°，旋内外-40°～60°，膝关节屈伸0°～140°，踝关节屈伸-60°～55°，内外翻-30°～20°，跖趾关节屈伸-40～30度）。   结论  Unity3D中局部欧拉角及“父子关系”继承可适应下肢关节真实运动幅度和关系。

关键词: 关节运动, 虚拟仿真, 局部欧拉角, Unity3D, 解剖学, 人

Abstract:

Objective To explore the parameters and effects of local Euler angle in the kinematic simulation of lower limb joints.    Methods  The hip, femur, patella, tibia, fibula and foot bones were segmented and reconstructed based on one set of computed tomographic (CT) data. The virtual models were imported into 3DSMax for smoothing, optimization, axis regulation and other processing. Models were imported into Unity3D after being processed, and the hip, knee, ankle and metatarsophalangeal joints were simulated with local Euler angle. The scripts were tested to adjust the relevant parameters. The documents were released as executable documents.   Results  The movement of hip, knee, ankle and metatarsophalangeal joints could be simulated as real movement without exceeding the range of articular fossa(-170°-170° in flexion and extension, -30°-80° in abduction and adduction, -40°-60° in rotation of hip joint; 0-140 degrees in flexion of knee joint; -60°-55°in flexion and extension and -30°-20° in varus and evagination of ankle joint; -40°-30° in flexion and extension of metatarsophanlangeal joint).  Conclusion The local Euler angle used in Unity3D based on “parent-children” relationship is adapt to simulate the real range of single and whole motion of lower limb joints.

Key words: Arthrologic movement, Virtual reality, Local Euler angle, Unity3D, Anatomy, Human

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