CN113940664B - Total hip arthroplasty measurement system capable of measuring prosthesis posture - Google Patents
Total hip arthroplasty measurement system capable of measuring prosthesis posture Download PDFInfo
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Abstract
The invention discloses a total hip arthroplasty measuring system capable of measuring the posture of a prosthesis. A long-time, continuous, dynamic measurement is performed. The spatial position of the ball head is measured by a sensor built in the ball head. The device does not influence the existing hip joint replacement prosthesis, is only used for measurement in operation, and is matched with the existing hip joint lower limb test model and the existing cup prosthesis to completely simulate the motion gesture of the truly replaced ball head in the body. The invention solves the problem that the relative posture of the prosthesis cannot be determined in the existing operation.
Description
Technical Field
The invention relates to the technical field of artificial prostheses, in particular to a total hip arthroplasty measuring system capable of measuring the posture of the prosthesis.
Background
In total hip replacement, due to the physiological structural characteristics of the hip joint, the outer side of the femoral head is covered by a thicker fat layer and a thicker muscle layer, and a certain angle is required for installing the prosthesis in the operation process, including the step that after the prosthesis is installed and tested, a doctor needs to move the hip of a patient in a large range to know whether the size and the position of the installed prosthesis are proper or not, and meanwhile, whether the movement of the prosthesis in the patient meets the requirement or not is judged. In hip joint replacement, the objective after replacing the prosthesis is to adjust to the structure of a normal hip joint, including the relative positions of an acetabulum and a ball head, the relative movement range of the prosthesis ball head relative to a cup and the like are required to meet the daily use requirements of a patient in the moving process of the hip joint, and at present, a doctor mainly depends on fingers to contact the installed prosthesis ball head to move the thighs of the patient to feel the movement condition of the prosthesis relative to the cup prosthesis, so that a plurality of problems are brought.
Firstly, the fingers of a doctor feel relative movement, no quantitative index exists, and the movement condition of the prosthesis ball head in the cup cannot be accurately quantified in the thigh movement process of a patient.
Secondly, the fingers of doctors are used for feeling the relative motion, the relative error is relatively large, the slight difference of angles cannot be accurately perceived, and meanwhile, different doctors can have evaluation differences when performing operations.
Thirdly, the installation of the acetabular prosthesis needs to ensure a certain inclination angle, including camber, anteversion and the like, in order to maximize the approach of the hip joint after the installation of the prosthesis to the normal hip joint state. The prior art measures comprise that the acetabular file is matched with auxiliary devices such as a positioner and the like, so that various dip angles are ensured. However, the potential major problem of this approach is that the operational differences between different users are large, the consistency of operation cannot be guaranteed, and no evaluation criteria exist after the operation is completed.
Fourth, the way in which the effect of the prosthetic installation is evaluated during conventional total hip arthroplasty is currently by C-arm X-ray irradiation. The advantage is that the installation condition of the prosthesis in the patient can be visually seen. But the disadvantages are also more evident: 1. radiation irradiation itself has a certain radioactivity and damages the patient itself, so that the radiation cannot be irradiated for many times in the operation, and therefore, the reference meaning has limitation. 2. Only images with fixed angles can be shot, and the dynamic display function and the measurement function are not provided.
Disclosure of Invention
Therefore, the invention provides a total hip arthroplasty measuring system capable of measuring the posture of a prosthesis, which aims to solve the problem that the relative posture of the prosthesis cannot be determined in the existing operation.
In order to achieve the above object, the present invention provides the following technical solutions:
the invention discloses a total hip arthroplasty measuring system capable of measuring the posture of a prosthesis, which comprises: the device comprises a hip joint geometric modeling module, a hip joint movement simulation module, a hip joint maximum movement detection module, a hip joint impact risk assessment module, an acetabular movement range display module and a femoral neck movement path display module;
the hip joint geometric modeling module simulates a femoral head prosthesis, a femoral neck prosthesis, a femoral stem prosthesis and a cup prosthesis in special shapes, establishes a three-dimensional orthogonal rectangular coordinate system of a hip joint, and calculates joint angles of the hip joint according to measured hip joint kinematic data;
the hip joint movement simulation module simulates a hip joint movement process according to all artificial hip joint model parameters;
the hip joint maximum activity detection module judges the theoretical activity range of the artificial hip joint based on the simulation result of the hip joint movement simulation module, and the movement range theta of the prosthesis is the maximum movement range of the femoral neck prosthesis in the acetabular cup prosthesis;
the hip joint collision risk assessment module detects an included angle beta between the axis of the acetabular prosthesis and the axis of the femoral neck prosthesis, and when the angle beta is more than or equal to 0.9 times of theta/2 angle, a warning window is popped up to prompt a user that the current action has collision or dislocation risk;
the acetabulum movable range display module displays the maximum movement range provided by the acetabular cup prosthesis for the femoral neck prosthesis, and the maximum movement space display function of the artificial hip joint is influenced by the head and neck ratio, the acetabular anteversion angle and the acetabular overturning angle;
the femoral neck movement route display module can display the movement route of the femoral neck prosthesis in various lower limb behaviors, and can display the movement route of the femoral neck prosthesis axis simultaneously with the maximum movement space of the cup prosthesis.
Further, the three-dimensional orthogonal rectangular coordinate system of the hip joint is defined by two virtual marking points at the near end or two virtual marking points at the center of one joint and the far end, and the definition methods adopted for different parts of a human body are different.
Further, the hip joint movement data is obtained from human body lower limb movement measurement, the acquired space data of the marking points of the hip and the thigh are converted into movement data of the pelvis and the femur of the human body, the definition and modeling of each limb segment are required through a static calibration file acquired, the static calibration file comprises optical tracking marking points on each rigid body and position important information of virtual marking points defining the far end and the near end of each limb segment, and the local coordinate system of each limb segment is defined at the same time when each limb segment is defined, and finally the joint angle, the angular speed and the angular acceleration kinematics parameters of each joint are described through the coordinate system.
Further, the hip geometry modeling module simulates a femoral head prosthesis and a femoral neck prosthesis into a sphere and a segment of a cone respectively, the femoral stem is simulated into a cone of a fixed shape, the cup prosthesis is simulated into a hemisphere which is linked with the femoral head prosthesis and is concentric with the sphere, and the ground reference coordinate system of the cup prosthesis can be described through a three-dimensional orthogonal rectangular coordinate system.
Further, the maximum mobility detection module of the hip joint determines the theoretical movement range theta of the artificial hip joint through the prosthesis head and neck ratio GR, the anteversion angle of the stem prosthesis, the anteversion angle of the prosthesis neck, the anteversion angle of the acetabular cup and the implantation tilting angle of the acetabular cup, the movement range theta of the prosthesis is the maximum movement range of the femoral neck prosthesis in the acetabular cup prosthesis, the maximum movement range is determined by the prosthesis head and neck ratio GR, the femoral neck and the geometric design of the acetabular cup prosthesis, the prosthesis head and neck ratio GR is related to the diameters of the ball head and the femoral neck, and the geometric design of the acetabular prosthesis and the femoral neck prosthesis, and the geometric relation formula of the prosthesis head and neck ratio GR and the movement range theta of the prosthesis is as follows:
further, the hip joint collision risk assessment module judges whether collision risk exists according to the theoretical movement range theta of the artificial hip joint and the included angle beta between the axis of the acetabular prosthesis and the axis of the femoral neck prosthesis, if beta is more than or equal to theta/2, the artificial movement is stopped, and the beta angle at the moment is the maximum movement angle.
Further, the hip joint collision risk assessment module detects the size of the angle beta in real time, and when the angle beta is larger than or equal to 0.9 times of the angle theta/2, the software pops up a warning window to prompt a user that the current action has collision or dislocation risk.
Further, the acetabular range of motion display module displays the maximum motion space of the hip joint, the maximum motion space is the maximum motion range provided for the femoral neck prosthesis by the natural acetabular or acetabular cup prosthesis, the range of motion can be practically represented by a motion range angle theta, the motion geometric space can be represented by a sphere cone with theta as the vertex, the femoral neck prosthesis can move freely in the geometric space without any impact, the vertex of the sphere cone and the sphere center of the ball head prosthesis are at the same origin O, the motion of the femoral neck prosthesis can draw various motion curves on the sphere of the sphere cone, the motion range angle theta is determined by the head and neck ratio, the artificial hip joint with a larger head and neck ratio has a larger sphere cone space, and the femoral neck prosthesis has a larger motion range.
Further, the femoral neck movement route display module obtains movement data of the hip joint through human body movement measurement, three-dimensional joint angles of the pelvis and the femur projected on three opposite surfaces are obtained through movement data of the movement capturing system, coordinate conversion is carried out, the joint angle data can be converted into rectangular space coordinates of a distal end point of a femoral force line shaft on a femoral force line, space movement coordinates of an axial end point of a femoral neck prosthesis can be obtained through space coordinate conversion, and the continuous space movement coordinates are space movement tracks of the femoral neck prosthesis.
Further, the system also comprises an operation interface, all parameters are input on the operation interface, and the established geometrical model, the proximal femur and the movement relation among the prosthesis components are displayed on the operation interface.
The invention has the following advantages:
the invention discloses a total hip joint replacement measuring system capable of measuring the posture of a prosthesis, which can realize long-time, continuous and dynamic measurement by establishing a geometric model of the hip joint, performing motion simulation and combining the motion data of the hip joint. The spatial position of the ball head is measured by a sensor built in the ball head. The device does not influence the existing hip joint replacement prosthesis, is only used for measurement in operation, is matched with the existing hip joint lower limb test model and the mortar cup prosthesis, completely simulates the motion gesture of a truly replaced ball head in the body, improves the adaptation degree of an artificial hip joint and a patient, is beneficial to the rehabilitation of the patient, and provides a more accurate treatment scheme for the above.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those skilled in the art from this disclosure that the drawings described below are merely exemplary and that other embodiments may be derived from the drawings provided without undue effort.
The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the invention, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the achievement of the present invention, should fall within the ambit of the technical disclosure.
FIG. 1 is a schematic diagram of a test apparatus according to an embodiment of the present invention;
FIG. 2 is a diagram of a hip joint pose definition provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a local coordinate system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an artificial hip joint modeling structure provided by an embodiment of the present invention;
FIG. 5 is a top view of an artificial hip joint according to an embodiment of the present invention;
fig. 6 is a schematic diagram of converting joint angle data into rectangular space coordinates according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a movement trace of a femoral neck prosthesis according to an embodiment of the present invention.
Detailed Description
Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
The present embodiment discloses a total hip arthroplasty measurement system for performing prosthetic pose measurements, the system comprising: the device comprises a hip joint geometric modeling module, a hip joint movement simulation module, a hip joint maximum movement detection module, a hip joint impact risk assessment module, an acetabular movement range display module and a femoral neck movement path display module;
referring to fig. 1 and 2, the measurement is performed using a measuring device composed of a bulb housing, an internal measuring circuit, an external receiving device, and display software. The shell and the internal measuring circuit are used for being installed in the lower limb during operation and are in wireless communication with an external receiving device, the external device transmits data to PC end software, and display software running on the PC end displays the received data; the bulb shell is the real appearance of the implanted prosthesis, and the prostheses of different models are matched with the shells of corresponding appearance according to different brands, so that the matching of the prostheses and the bulbs of corresponding brands can be ensured. The shell is made of medical plastic. The device can measure pose data of the intraoperative lower extremity prosthesis relative to the acetabular prosthesis and display in digitized and imaged form. Among them, the angles that can be measured include: rotation angle, deflection angle, abduction angle, rake angle. The posture of the intraoperative lower limb prosthesis relative to the acetabular cup can be continuously and uninterruptedly measured, dynamic continuous monitoring is realized, and measurement of all data in a desired movement range is conveniently realized. All data received in the using process are recorded, and the data are stored in a hard disk on which display software is installed. The data may be played back by the display software.
The hip joint geometric modeling module simulates a femoral head prosthesis, a femoral neck prosthesis, a femoral stem prosthesis and a cup prosthesis in special shapes, establishes a three-dimensional orthogonal rectangular coordinate system of a hip joint, and calculates joint angles of the hip joint according to measured hip joint kinematic data;
the hip joint movement simulation module simulates a hip joint movement process according to all artificial hip joint model parameters;
the hip joint maximum activity detection module judges the theoretical activity range of the artificial hip joint based on the simulation result of the hip joint movement simulation module, and the movement range theta of the prosthesis is the maximum movement range of the femoral neck prosthesis in the acetabular cup prosthesis;
the hip joint collision risk assessment module detects an included angle beta between the axis of the acetabular prosthesis and the axis of the femoral neck prosthesis, and when the angle beta is more than or equal to 0.9 times of theta/2 angle, a warning window is popped up to prompt a user that the current action has collision or dislocation risk;
the acetabulum movable range display module displays the maximum movement range provided by the acetabular cup prosthesis for the femoral neck prosthesis, and the maximum movement space display function of the artificial hip joint is influenced by the head and neck ratio, the acetabular anteversion angle and the acetabular overturning angle;
the femoral neck movement route display module can display the movement route of the femoral neck prosthesis in various lower limb behaviors, and can display the movement route of the femoral neck prosthesis axis simultaneously with the maximum movement space of the cup prosthesis.
The three-dimensional orthogonal rectangular coordinate system of the hip joint is defined by two virtual marking points at the near end or two virtual marking points at the center of a joint and the far end, and the definition methods adopted for different parts of a human body are different.
The hip joint kinematics data are from human lower limb movement measurements, and the acquired spatial data of the marker points of the hips and thighs are converted into human pelvis and femur movement data. In fact, the measurement of the movement of the lower limb comprises two parts, namely a left thigh, a right thigh and a pelvis, and also comprises the definition and establishment of seven limb segments in total of two feet and a left calf and a right calf. The method also needs to define and model each limb segment through a static calibration file acquired, wherein the file comprises important information such as optical tracking mark points on each rigid body, positions of virtual mark points defining the far end and the near end of each limb segment and the like. At the same time as the definition of the individual limb segments, i.e. the local coordinate system of the individual limb segments, the final required kinematic parameters such as joint angle, angular velocity and angular acceleration of the individual joints are described by this coordinate system, the following is based on the kinematic measurements of the hip joints.
The local coordinate system of each limb segment of the human body is defined by two virtual marking points at the near end or two virtual marking points at the center and the far end of a joint, and the corresponding relation between the marking points and the local coordinate system is shown in figure 3. The pelvic local coordinate system is defined by two virtual marker points at the proximal and distal ends. Taking fig. 3 as an example, G is a global coordinate system. Gray sphere m t1 、m t2 、m t3 、m t4 Representing tracking mark points, which form a rigid body and are fixed on the surface of human body, the coordinate system of the mark points is M, and the origin vector isHollow sphere m c1 、m c2 、m c3 、m c4 Respectively represent bone mark points, C p 、C d Respectively m c1 、m c2 And m c3 、m c4 The midpoints of the connecting lines are respectively approximate to the joint centers of the proximal end and the distal end, C m Is the centroid, is distant from point C p And C d The distance of (2) is l respectively p 、l d The values are determined by an anthropometric regression equation. The local coordinate system of the pelvic bone is A. m is m t1 、m t2 、m t3 、m t4 、m c1 、m c2 、m c3 、m c4 、C m The vectors in the global coordinate system are +.> Taking a frame of data from the measured static file, having These known quantities set the origin of the local coordinate system of the pelvis to C m ；
In the local coordinate system, z a The axis is C d Pointing to C p ：
y a The axis being perpendicular to C d 、m c1 、m c2 Three-point defined plane:
determining x according to the right hand rule a And (3) a shaft:
the local coordinate system of the thigh is defined by two bone mark points of the center and the far end of the hip joint, the calculation method is the same as the definition method of other local coordinate systems, and y a The axis is perpendicular to the proximal joint center C d And two bone marking points at the far end, m c3 、m c4 The determined plane:
so far, the vector matrix of the corresponding local coordinate system of the pelvis and the femur can be determined, and the unit vector matrix of the local coordinate system is shown in the following formula through consistency processing:
and tracking the identity vector matrix e of the rigid coordinate system of the mark point m And origin vectorIt can also be obtained by four tracking mark points in a similar way as above.
In the mark point rigid body coordinate system, the local coordinate axis vector matrix is expressed as
Thus, the relation between the rigid coordinate system of the mark point and the local coordinate system can be determined by utilizing the data in the static calibration file, and the local coordinate system e a Once defined, e am Remain unchanged.
Thus the unit vector matrix of the kth frame in the global coordinate system of the local coordinate systemCan be calculated from the following formula:
wherein e am Is a constant, has been calculated,marking point rigid body coordinate system unit vector matrix for the kth frame, and continuously changing along with the motion of each limb segment of the human body, thereby calculating the motion passing through the coordinate transformationVector matrix of each local coordinate system in the process.
In this embodiment, the hip geometry modeling module uses a left geometry model of the hip, the femoral head prosthesis and the femoral neck prosthesis are modeled as a sphere and a segment of a cone, respectively, the femoral stem is modeled as a fixed-shape cone, and the cup prosthesis is modeled as a hemisphere that is linked to the ball head model and concentric with the sphere. A three-dimensional orthogonal coordinate system can describe its ground reference coordinate system as shown in fig. 4. The origin of coordinates O is set to be or the sphere center of the bulb prosthesis; the X axis is the anatomic transverse axis and points to the outside; the Y axis is an anatomical sagittal axis pointing to the front of the human body; the Z-axis is the anatomical long axis pointing above the human body. The buckling/stretching motion takes the X axis as a rotation axis; abduction/adduction movements with the Y-axis as the axis of rotation (also the axis of buoyancy of the femur); the internal rotation/external rotation takes the orthogonal axis of the former two axes as the rotation axis
In fig. 5, the acetabular prosthesis axis is perpendicular to the acetabular cup opening plane through the acetabular center, D represents the diameter of the ball-end prosthesis and D represents the diameter of the femoral neck prosthesis. The range of motion θ of the prosthesis is also the range of angles of oscillation of the artificial hip prosthesis. When the femoral neck is configured as a cylinder, the cup opening surface is planar cut without chamfer, gr=d/d=1/Cos (θ/2). B is the real-time change angle of the axis of the acetabular prosthesis and the axis of the femoral neck prosthesis, the angle is used for detecting collision, if beta is more than or equal to theta/2, the collision is represented by the prosthesis, and meanwhile, a prompt window can be popped up.
The factors which can influence the theoretical movement of the hip joint are more, including eight factors, so as to realize the geometric modeling of the hip joint prosthesis and the definition of the implantation position of the prosthesis. The theoretical range of motion of the hip joint is determined by the femoral head diameter, the femoral neck diameter, the neck shaft angle, the femoral rake angle, the acetabular rake angle, and the acetabular rake angle. The theoretical moving range of the artificial hip joint is determined by the head and neck ratio of the prosthesis, the front inclination angle of the stem prosthesis, the neck stem angle of the prosthesis, the front inclination angle of the femur, the front inclination angle of the cup placement and the overturning angle of the cup placement.
The calculation of the theoretical range of motion of the artificial hip joint is not actually different. The anteversion angle of the stem prosthesis is typically as an independent parameter the anatomic anteversion angle of the femoral stem of the individual patient. There are also artificial hip models developed that set this parameter to a constant value, which is not reasonable to do so, which can render the model unusable for patients with severe lower limb deformation. The neck finish angle is an important parameter and is typically provided directly by the joint prosthesis manufacturer. The head and neck ratio (GR), which is a parameter well known to doctors and has the same concept as the prosthesis movement range θ, can represent the maximum movement range inherent to the prosthesis, is included in the software. Therefore, all clinically relevant implant parameters and prosthesis parameters related to the theoretical mobility of the artificial hip joint are included.
The artificial hip joint model includes all eight parameters: cup diameter (D'), ball head diameter (D), head to neck ratio (GR), femoral stem abduction angle (SA), stem angle (CCD), cup Anteversion Angle (AA), cup abduction Angle (AI), and femoral anteversion angle (FA).
D' and D determine the inner and outer diameters of the cup prosthesis; d and GR determine the prosthetic ball diameter and femoral neck diameter; the GR and the prosthesis rocking angle have the same geometric meaning, which is related to the diameters of the ball head, the femoral neck, and the geometric design of the acetabular prosthesis and the femoral neck prosthesis. When a cylindrical femoral neck is used, the cup opening is planar and GR represents the true head to neck ratio without chamfer as shown in fig. 4. CCD is the included angle between the axis of the femoral stem and the femoral neck, SA is the included angle between the axis of the femoral neck and the Z axis of the femur, FA and SA and AA, AI are three implantation parameters which determine the implantation position of the femoral prosthesis, and FA is the included angle between the axis of the femoral neck and the frontal plane (XOY plane). The range of values of the eight parameters is shown in Table 1.
Table 1 table of parameter value ranges in software
The range of motion θ of the prosthesis is also the range of angles of oscillation of the artificial hip prosthesis. gr=d/d=1/Cos (θ/2). Beta is the real-time change angle of the axis of the acetabular prosthesis and the axis of the femoral neck prosthesis, the angle is used for detecting collision, if beta is more than or equal to theta/2, the collision is represented by the prosthesis, and meanwhile, a prompt window can be popped up.
The maximum activity detection module of the hip joint can measure the angle beta (the included angle between the axis of the acetabular prosthesis and the axis of the femoral neck prosthesis) which changes in real time, if beta is more than or equal to theta/2, the artificial movement is stopped at the same time, and the angle beta at the moment is the maximum activity angle. The motion range theta angle of the prosthesis is the maximum motion range of the femoral neck prosthesis in the cup prosthesis, and is determined by the head and neck ratio and the geometric design of the femoral neck and cup prosthesis, and comprises the following steps: chamfer of opening surface, femur neck shape, outer edge of cup, etc. The geometrical relationship between the head and neck ratio GR and the swing angle θ is shown in the following formula:
the hip joint collision risk assessment module automatically works in the motion simulation process, and the function also detects the beta angle, so that once the beta angle is found to be more than or equal to 0.9 times of theta/2 angle, the software can pop up a warning window to prompt a user that the current action has collision or dislocation risk.
The acetabular range of motion display module displays a maximum motion space, which is the maximum range of motion provided to the femoral neck prosthesis by the natural acetabular or acetabular cup prosthesis, the range of motion of which may be substantially represented by a swing angle θ, and which may be represented by a sphere cone having θ as a vertex. The femoral neck prosthesis can move freely in this geometrical space without any impact. The apex of the cone and the sphere center of the ball head prosthesis are at the same origin O, and the movement of the femoral neck prosthesis can draw various movement curves on the sphere of the ball cone, as shown in figure 6. In practice, the angle theta is determined by the head and neck ratio, the artificial hip joint with larger head and neck ratio has larger ball cone space, the femoral neck prosthesis has larger moving range, and the patient can have better moving capability. At different acetabular implantation angles, the orientation of the ball cone space (normal phase direction) is also different, so the maximum motion space display function of the artificial hip joint needs to determine three parameters: head-to-neck ratio, acetabular anteversion angle, acetabular flip angle.
The femoral neck movement route display module can display the movement route of the femoral neck (or femoral neck prosthesis) axis in various lower limb behaviors, and can be displayed simultaneously with the Safe-ROM-Cone space of the acetabulum (or acetabular cup prosthesis). To achieve this function, it is necessary to obtain movement data of the hip joint by means of ergonomic measurements. The motion data obtained by the motion capture system is actually the three-dimensional joint angle of the pelvis and femur projected on three phases, as shown in fig. 6. In the figure, AO represents a femoral force spool, BO represents a femoral neck axis, O represents the sphere center of the ball head prosthesis, A represents the distal end point of the femoral force spool, B represents the axial end point of the femoral neck prosthesis, alpha represents the buckling/stretching angle of the sagittal plane, beta represents the abduction/adduction angle of the frontal plane, and gamma represents the internal rotation/external rotation angle of the cross section. Through coordinate conversion, the joint angle data can be converted into rectangular space coordinates of the A point on the femur force line, and the mathematical formula of the motion coordinates and the joint included angle is shown as the following formula:
x 2 +y 2 +z 2 ＝1
through the formula, the space motion coordinate of A on the femur force line can be obtained. Because of the clear geometric relationship between the point A on the femoral force line and the point B on the femoral neck axis, the included angle between the point A and the point B on the frontal plane is 180 degrees-CCD-SA, and the included angle between the point A and the point B on the cross-sectional plane is FA, as shown in figure 4. Therefore, the spatial Motion coordinates of the vertex B point of the axis of the femoral neck can also be obtained through spatial coordinate conversion, the continuous spatial Motion coordinates are the spatial Motion tracks of the femoral neck prosthesis, and the tracks and the Safe-Motion-Cone are displayed on the same spherical surface. For example, if we intend to simulate and analyze the movement of the hip joint in the squatting movement, the movement data of the hip joint in the squatting movement needs to be obtained through the anthropometric measurement, and the data is input into software, so that the movement track of the femoral neck in the whole squatting process can be displayed. By this means, the motion of the lower limb can be measured by the human motion capture system, and the movement track of the femoral neck in the motion can be obtained and displayed.
The system also comprises an operation interface, wherein the operation interface comprises 7 main functions, such as parameter setting, modeling, motion simulation, maximum activity range detection, maximum activity range display, femur neck motion track display and impact risk evaluation. All parameters can be input in a left dialog box, a model is displayed in the center of a screen, the movement relation between the proximal femur and the prosthesis component is displayed on the right side of the screen, and the movement relation analysis mainly comprises two parts, namely a maximum movement range display function of the cup prosthesis and a movement track display function of the femoral neck prosthesis. The maximum motion boundary provided by the cup prosthesis with reference to fig. 7 is represented by a ball cone, and the motion trajectory of the femoral neck prosthesis draws various curves on the ball cone
A three-dimensional parameterized hip motion analysis software was developed that was able to simulate six activities and investigate the risk of impact and dislocation of the hip joint in various behavioural movements. The parameterized modeling and visualization functions increase the possibility of clinical application, and doctors can use the parameterized modeling and visualization functions to perform prosthesis model selection and optimize the implantation position of the prosthesis and perform postoperative activity capability assessment.
In the embodiment, the space position of the ball head is measured through a sensor built in the ball head. The device does not influence the existing hip joint replacement prosthesis, is only used for measurement in operation, is matched with the existing hip joint lower limb test model and the mortar cup prosthesis, completely simulates the motion gesture of a truly replaced ball head in the body, improves the adaptation degree of an artificial hip joint and a patient, is beneficial to the rehabilitation of the patient, and provides a more accurate treatment scheme for the above.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (10)
1. A total hip arthroplasty measurement system capable of performing a prosthetic pose measurement, the system comprising: the device comprises a hip joint geometric modeling module, a hip joint movement simulation module, a hip joint maximum movement detection module, a hip joint impact risk assessment module, an acetabular movement range display module and a femoral neck movement path display module;
the hip joint geometric modeling module simulates the shapes of a femoral head prosthesis, a femoral neck prosthesis, a femoral stem prosthesis and an acetabular cup prosthesis corresponding to the prosthesis, establishes a three-dimensional orthogonal rectangular coordinate system of the hip joint, and calculates the joint angle of the hip joint according to measured hip joint kinematic data;
the hip joint movement simulation module simulates a hip joint movement process according to all artificial hip joint model parameters;
the hip joint maximum activity detection module judges the theoretical activity range of the artificial hip joint based on the simulation result of the hip joint movement simulation module, and the movement range theta of the prosthesis is the maximum movement range of the femoral neck prosthesis in the acetabular cup prosthesis;
the hip joint collision risk assessment module detects an included angle beta between the axis of the acetabular prosthesis and the axis of the femoral neck prosthesis, and when the angle beta is more than or equal to 0.9 times of theta/2 angle, a warning window is popped up to prompt a user that the current action has collision or dislocation risk;
the acetabulum movable range display module displays the maximum movement range provided by the acetabular cup prosthesis for the femoral neck prosthesis, and the maximum movement space display function of the artificial hip joint is influenced by the head and neck ratio, the acetabular anteversion angle and the acetabular overturning angle;
the femoral neck movement path display module can display the movement path of the femoral neck prosthesis in various lower limb behaviors, and can display the movement path and the maximum movement space of the cup prosthesis simultaneously.
2. A total hip arthroplasty measurement system for enabling prosthetic pose measurement according to claim 1, wherein said hip three-dimensional orthogonal coordinate system is defined by two virtual marker points at the proximal end or two virtual marker points at the center and distal end of a joint.
3. A total hip arthroplasty measurement system for performing prosthetic pose measurements according to claim 1, wherein the hip kinematics data is derived from human lower limb kinematics measurements, wherein the acquired spatial data of the hip and thigh marker points are converted into human pelvic and femoral movement data, wherein the individual limb segments are defined and modeled by means of acquired static calibration files comprising optically tracked marker points on each rigid body and position-critical information defining virtual marker points at the distal and proximal ends of the individual limb segments, wherein the individual limb segments are defined simultaneously, i.e. by defining a local coordinate system of the individual limb segments, wherein finally calculated joint angles, angular velocities and angular acceleration kinematics parameters of the individual joints are described by means of the coordinate system.
4. A total hip arthroplasty measurement system for performing prosthetic pose measurements according to claim 1 wherein said hip geometry modeling module models the femoral head prosthesis and the femoral neck prosthesis as a sphere and a segment of a cone, respectively, the femoral stem as a fixed shape cone, the cup prosthesis as a hemisphere linked to the femoral head prosthesis and concentric with the sphere, and the ground reference coordinate system of the hip joint can be described by a three-dimensional orthogonal rectangular coordinate system.
5. The total hip arthroplasty measurement system capable of performing prosthesis posture measurement according to claim 1, wherein the hip joint maximum mobility detection module determines a theoretical movement range θ of the artificial hip joint through a prosthesis head and neck ratio GR, a stem prosthesis anteversion angle, a femur implantation anteversion angle, a cup implantation anteversion angle and a cup implantation tilting angle, the movement range θ of the prosthesis is a maximum movement range of the femoral neck prosthesis in the cup prosthesis, and is determined by a prosthesis head and neck ratio GR and a geometric design of the femoral neck and the cup prosthesis, the prosthesis head and neck ratio GR is related to a ball head, a diameter of the femoral neck, and a geometric design of the acetabular prosthesis and the femoral neck prosthesis, and a geometric relation formula of the prosthesis head and neck ratio GR and the prosthesis movement range θ is as follows:
6. the total hip arthroplasty measurement system capable of performing prosthesis posture measurement according to claim 1, wherein the hip joint collision risk assessment module judges whether collision risk exists according to a theoretical movement range theta of the artificial hip joint and an included angle beta between an axis of the acetabular prosthesis and an axis of the femoral neck prosthesis, if beta is more than or equal to theta/2, the prosthesis is impacted, and meanwhile simulation movement is stopped, and at the moment, the angle beta is the maximum movement angle.
7. The total hip arthroplasty measurement system of claim 6 wherein the hip impact risk assessment module detects the magnitude of angle β in real time, and when angle β is greater than or equal to 0.9 times the angle θ/2, the software pops up a warning window to indicate to the user that the current motion is at risk of collision or dislocation.
8. A total hip arthroplasty measurement system for performing prosthesis pose measurements according to claim 1, wherein the acetabular range of motion display module displays a maximum motion space of the hip joint, the maximum motion space being a maximum range of motion provided to the femoral neck prosthesis by a natural acetabular or cup prosthesis, the range size of the maximum motion space being practically represented by a range of motion angle θ, the movable geometry space being represented by a sphere cone having θ as an apex, the femoral neck prosthesis being free to move in the geometry space without any impact, the apex of the sphere cone being at the same origin O as the center of the sphere of the ball prosthesis, the movement of the femoral neck prosthesis being capable of drawing various motion curves on the sphere of the sphere cone, the range of motion angle θ being determined by the head-to-neck ratio, the artificial hip joint having a larger head-to-neck ratio having a larger sphere cone space, the femoral neck prosthesis having a larger range of motion.
9. The total hip arthroplasty measurement system capable of performing prosthesis posture measurement according to claim 1, wherein the femoral neck movement path display module obtains movement data of a hip joint through human body movement measurement, and performs coordinate conversion on three-dimensional joint angles of a pelvis and a femur projected on three phase surfaces, wherein the three-dimensional joint angles data can be converted into rectangular space coordinates of a distal end point of a femoral force line shaft on a femoral force line, and the space movement coordinates of an axial end point of a femoral neck prosthesis can also be obtained through space coordinate conversion, and the continuous space movement coordinates are space movement tracks of the femoral neck prosthesis.
10. A total hip arthroplasty measurement system for performing prosthetic pose measurements according to claim 1, further comprising an operator interface, wherein all parameters are entered at the operator interface, and wherein the established geometric model, proximal femur and prosthetic component kinematic relationships are displayed at the operator interface.
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| CN115844531B (en) * | 2023-02-22 | 2023-09-12 | 北京壹点灵动科技有限公司 | Navigation system for hip replacement operation |
| CN117197363B (en) * | 2023-11-06 | 2024-02-09 | 四川大学华西医院 | Hip-protecting evaluation system for hip joint developmental diseases and storage medium thereof |
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