CN104068861B - Thighbone length measurement device - Google Patents
Thighbone length measurement device Download PDFInfo
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- CN104068861B CN104068861B CN201410314709.9A CN201410314709A CN104068861B CN 104068861 B CN104068861 B CN 104068861B CN 201410314709 A CN201410314709 A CN 201410314709A CN 104068861 B CN104068861 B CN 104068861B
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Abstract
The invention discloses a thighbone length measurement device used for measuring the thighbone length during thighbone head replacement. The device comprises a target mechanism, a binocular camera, a visual measurement mechanism and a displayer, wherein the target mechanism is used for being fixed to the thighbone; the binocular camera is fixed in position relative to the hip joint and used for periodically collecting images of the target mechanism; the visual measurement mechanism receives image information of the binocular camera and judges the distance between the binocular camera and the target mechanism according to the image information; the displayer is connected with the visual measurement mechanism and used for displaying the distance between the binocular camera and the target mechanism. The thighbone length measurement device is simple in structure, low in cost and easy and convenient to operate, a doctor can be assisted in accurately and rapidly measuring the length of the thighbone in the thighbone head replacement operation, and thus it is guaranteed that the length of the thighbone head after replacement is accurate.
Description
Technical field
The present invention relates in orthopedic medical device technical field, more particularly, to a kind of femur length measurement apparatus.
Background technology
Femur head necrosiss are Pathologic processes, initially occur in capital heavy burden area, necrosis under stress
Bone trabecular bone structure is damaged, and leads to femoral head structural change, collapse of the femoral head, deformation, arthritis, joint motion and negative
Overline stop ＆ go function obstacle.Femoral head replacement operation is the effective medical procedure solving femur head necrosiss.
In femoral head replacement operation, current doctor relies primarily on naked eyes and feel to determine the length after prosthetic replacement
Whether degree and position are correct, and the length of replacement joint depends on the micro-judgment of doctor, leg length discrepancy after operation in patients
Phenomenon is commonplace, and the situation that suffering limb extends is relatively more, is also clinically one of more problem of patient main suit.Femoral head replacement
The length change of postoperative frequent generation lower limb, is mainly shown as that side leg length elongates, and the patient's length that there are about 60% according to statistics is elongated
More than 1 centimetre, cause patient's walking step state abnormal, make troubles to the daily action of patient.If more seriously femoral head
Position deviation in prosthese, can cause back side walkway soft tissue injury and early stage periarticular soft tissues weak, enter one
The serious consequences such as step causes fixing bone pin to come off, femoral head dislocation.So the artificial joint in femoral head replacement operation, after displacement
Whether length properly becomes the key factor of gait and functional rehabilitation after impact operation in patients.
Therefore, this area, in the urgent need to a kind of armarium, can help accurately and fast measure femur during surgical
The length of head, thus the femoral head length after ensureing to replace is accurately, beneficial to gait after operation in patients and functional rehabilitation, effectively improves
Surgical quality.
Content of the invention
It is an object of the invention to provide a kind of structure is simple, low cost and operation easily femur length measurement apparatus,
Doctor is helped can accurately and fast to measure capital length when carrying out femoral head replacement operation, thus after ensureing displacement
Femoral head length accurately, effectively raise surgical quality.
Based on above-mentioned purpose, the invention provides a kind of femur length measurement apparatus, for measuring in femoral head replacement
The length of femur, this device includes target mechanism, binocular camera, vision measurement mechanism and display, wherein:
Described target mechanism is used for being fixed on femur；
Described binocular camera is fixed with respect to the position of hip joint, for periodically gathering the image of described target mechanism；
The image information of binocular camera described in described vision measurement authorities, and judge described according to this image information
Binocular camera and the spacing of described target mechanism；
Described display is connected with described vision measurement mechanism, for showing described binocular camera and described target mechanism
Spacing.
Optionally, described target mechanism includes place kick and nail, and described place kick is arranged on the end of nail, described bone
Follow closely and be used for being fixedly connected on femur.
Optionally, described binocular camera is fixedly connected with fixture or nail, and described fixture or nail are used for fixing company
It is connected on described hip joint.
Optionally, described binocular camera is fixedly connected with mechanical arm, and described mechanical arm is used for being fixedly connected on operating room sky
On card or operation bedrest.
Optionally, described display is connected by wireless network with described vision measurement mechanism.
Optionally, it is provided with two coms modules and two camera lens modules, described two coms moulds in described binocular camera
Block is respectively used to gather the image of two camera lens modules.
Optionally, described vision measurement mechanism is integrated in described binocular camera, and described vision measurement mechanism includes:
Embedded vision measurement module, receives the image of described coms module and carries out sequential adjustment, by the figure after adjustment
As being sent to processor module；
Processor module, determines the position of target mechanism according to the image obtaining, and calculates this position and described processor
The distance of the datum mark of module definition；
Signal dispatcher module, is responsible for the data communication between described processor module and described display.
Optionally, the datum mark of described processor module definition is one of camera lens module of described binocular camera.
Optionally, described embedded vision measurement module adopts fpga module, described fpga module and described two coms
Module electrically connects；Described processor module adopts dsp module, and described dsp module is electrically connected with described fpga module.
Optionally, described fpga module is also associated with sram module, for storage image information；Described dsp module also connects
It is connected to sdram module, for storing range information；It is corresponding,
Described display be touch-sensitive display, send the instruction of gathering information for human-computer interaction, described dsp module according to
Transfer corresponding graphical information or range information according to instruction and be shown on described display.
In sum, the femur length measurement apparatus that the present invention provides, gather the left and right of target mechanism by binocular camera
Eye pattern picture, by the distance judging target mechanism and binocular camera after vision measurement analysis of mechanism right and left eyes image, and by this distance
It is shown on display, this distance can react the length of femur.The present invention only needs to be fixed on target mechanism when using
Femur, will be fixing with hip shutdown holding position for binocular camera, simple operation；Especially, this device is by existing binocular phase
The components such as machine are improved by specific annexation and structure and constitute, and can complete linear measure longimetry by vision measurement principle, this
Invention has the advantages that structure is simple, low cost, popularization and application of being more convenient for.
Further, the present invention is when using, after fixing to binocular camera and target mechanism, this device automatic measurement away from
From and be shown on display it is not necessary to the operation such as carry out manually adjusting again, it is to avoid the mistake to patient trauma face for the measurement process
Many contacts.
Brief description
Fig. 1 is the structure principle chart of the embodiment of the present invention one；
Fig. 2 is the structural representation of the embodiment of the present invention two；
Fig. 3 is the theory diagram of the embodiment of the present invention three.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only in order to explain the present invention, not
For limiting the present invention.
Embodiment one
Referring to Fig. 1, this embodiment offers a kind of femur length measurement apparatus, this device is mainly used in femoral head replacement
In operation process, carry out the real-time measurement of femur length, and then guarantee that the both legs length after femoral head replacement is consistent, improve operation
Success rate.
Referring to Fig. 1, this device mainly includes target mechanism 100, binocular camera 200, vision measurement mechanism 300 and display
400.Described target mechanism 100 is used for being fixed on femur；Described binocular camera 200 is fixed with respect to the position of hip joint；Institute
State vision measurement mechanism 300 to be connected with described binocular camera 200, described display 400 accesses described vision measurement mechanism
300.
Described binocular camera 200 periodicity gathers the image of described target mechanism 100；Described vision measurement mechanism 300 connects
Receive the image information of described binocular camera 200, and judge described binocular camera 200 and described target machine according to this image information
The spacing of structure 100；Described display 400 shows the spacing of described binocular camera 200 and described target mechanism 100.
In femoral head replacement field, one of key factor of successful surgery is the postoperative length of femur, and this length is in art
Can be embodied apart from the distance of hip joint datum mark by femur reference point with postoperative.The target mechanism 100 of the present invention is solid
It is scheduled on femur, as certain reference point of femur；The binocular camera 200 of the present invention and the position of hip joint are relatively fixed, as
Certain datum mark of hip joint.It is aided with by the three-dimensional localization function of binocular camera 200 and carries out certain data analysiss, you can know
Binocular camera 200 can reflect the length of described femur apart from the distance of target mechanism 100, this distance.Above-mentioned data analysiss
Can be completed using the conversion of simple coordinate data, this repeats no more for prior art.Present configuration is simple, can be accurately fast
The prompt length recording femur, and after preoperative fixing target position and binocular camera, be not required in operation again because of measurement length
Touch wound face, reduce the misery of patient and improve the success rate of operation.
Embodiment two
Referring to Fig. 2, this embodiment also provides a kind of femur length measurement apparatus, and this embodiment is the base in embodiment one
Improvement further on plinth, the technical scheme described by embodiment one falls within this embodiment, the technology that embodiment one has described that
Scheme is not repeated to describe.Specifically:
During femoral head replacement, the position of femur is constantly adjusted and is moved, for guaranteeing target described in adjustment and moving process
Mark mechanism 100 does not fall off, and in this embodiment, described target mechanism 100 is fixed on femur by the way of nail is fixing.That is,
Described target mechanism 100 includes place kick 110 and nail 120, and described place kick 110 is arranged on the end of nail 120, described bone
Nail 120 is used for being fixedly connected on femur.Using place kick 110, the right and left eyes camera lens of described binocular camera 200 can be made to gather
Place kick 110 picture shape arriving is identical, that is, guarantee that image only has the difference of size without the change of shape, be conducive to successively
The comparison of image, is easy to data processing, improves the accuracy of linear measure longimetry.
In this embodiment, described binocular camera 200 is fixedly connected with mechanical arm 210, and described mechanical arm 210 is fixedly connected on
It is also possible to be integrally fixed on operation table support on operating room ceiling, or it is fixed on its fixing with respect to operation bed position
On his equipment.Using the fixed form of mechanical arm 210, using the oscillating function of mechanical arm 210, can arbitrarily adjust binocular camera
200 position, realizes choosing optimum as the position of datum mark, and realizes during measurement being placed in binocular camera 200
Binocular camera 200 is passed to other positions when being not required to measure and avoids hindering operation technique, works as binocular camera by default position
When resetting again after 200 transfers, can show by the distance of display 400 and be resetted as reference.
Separately, described binocular camera 200 can also be directly anchored on hip joint by fixture or nail, to subtract further
Space shared by little device, and further reduces cost.For example, described binocular camera 200 be fixedly connected with fixture or
Nail, described fixture or nail are used for being fixedly connected on described hip joint.
In this embodiment, described display 400 is connected by wireless network with described vision measurement mechanism 300, to optimize
The wiring of this equipment, prevents wiring complexity from leading to operative site in disorder, reduces the risk of operation.
Embodiment three
This embodiment also provides a kind of femur length measurement apparatus, and this embodiment is entering on the basis of embodiment two
One step is improved, and the technical scheme described by embodiment two falls within this embodiment, and the technical scheme that embodiment two has described that is no longer
Repeated description.Specifically:
This embodiment has mainly carried out improvement structurally and functionally so as to be effectively used for stock to binocular camera 200
The measurement of bone length, and can become one formula structure with vision measurement mechanism 300, improve this apparatus structure compact
Degree.
In this embodiment, in described binocular camera 200, it is provided with two coms modules (coms is imageing sensor) and two
Individual camera lens module, described two coms modules are respectively used to gather the image of two camera lens modules, that is, be respectively used to about collection
Eye pattern picture.
Described vision measurement mechanism 300 includes embedded vision measurement module, processor module and signal dispatcher module, institute
State embedded vision measurement module, described processor module and described information transceiver module and be preferably integrated in described binocular camera
In 200, it is integrally formed machine.
Wherein: described embedded vision measurement module, receive the image of described image acquisition module and carry out sequential adjustment,
Image after adjustment is sent to processor module, in this process noise and distortion correction is removed to image simultaneously,
Improve picture quality；Described processor module, determines the position of target mechanism 100, and calculates this position according to the image obtaining
With the distance of the datum mark of described processor module definition, the datum mark of described processor module definition can be for example described double
One of camera lens module of mesh camera 200；Described information transceiver module, is responsible for described processor module and described display
Data communication between 400.
The above-mentioned distance calculating this position and the datum mark of described processor module definition, its principle is: binocular camera
200 two camera lens modules obtain two width images of same target mechanism 100 from different perspectives simultaneously, permissible using biocular systems
Determine the coordinate of the world point with image plane coordinate points, the distance of place kick 110 and image plane can have been contacted with parallax
Come, baseline and focal length it is known that can obtain the three-dimensional coordinate of place kick 110 by calculating spatial point parallax in two images
Value；Based on the principle of stereopsises, the present invention is using the target o'clock being positioned in the space in two shooting camera imaging planes
Perspective imaging point coordinates, asks for the three-dimensional coordinate of this target point, thus obtaining the distance between measurement module and target.
Referring to Fig. 3, this embodiment institute is preferred, in vision measurement mechanism 300: described embedded vision measurement module adopts
Fpga module (fpga refers to field-programmable gate array, i.e. field programmable gate array), described fpga
Module is electrically connected with described two coms modules；Described processor module adopts dsp module, and (dsp refers to digital signal
Processor, i.e. digital signal processor), described dsp module is electrically connected with described fpga module.Described fpga module also connects
It is connected to sram module (sram refers to static ram, i.e. SRAM), for storage image information；Described dsp mould
Block is also associated with sdram module, and (sdram refers to synchronous dynamic random access memory, that is, synchronous
Dynamic RAM), for storing range information；Corresponding, described display is touch-sensitive display, for people
Machine interaction sends the instruction of gathering information, and described dsp module transfers corresponding graphical information or range information simultaneously according to instruction
It is shown on described display.
Preferably, described fpga module passes through the vp mouth mail message of described dsp, to improve information transmission for this embodiment institute
Efficiency.Described fpga module and described dsp module connect power module (i.e. power module), respectively to provide electric power.Vision
Measuring mechanism 300 includes two flash module, and described two flash module connect described fpga module and described dsp mould respectively
Block, described systematic parameter and software program are placed in flash.
This embodiment adopts each module of above-mentioned model, on the basis of guaranteeing range measurement, can be integrated in same
On one pcb, it is easy to be embedded in binocular camera 200, form all-in-one.
Application
For clearer expression technical scheme, in conjunction with Fig. 2 and Fig. 3, applied description as follows:
1) operation consent, installs on the femoral head to be replaced of patient and near knee position first with nail, and ensures institute
Fixed position intercepts below position it is ensured that target mechanism 100 relative position is motionless before and after displacement in operation, and vision measurement system can
" see " target with always.
2) patient lies on operation table, keeps body position constant after anesthesia.
3) binocular camera 200 is fixed on the movable end of mechanical arm 210, the other end of mechanical arm 210 is fixed on operating room
Ceiling on.By the display 400 of touch, operating robotic arm 210 moves to patient crotch, that is, hip joint portion
Position.The lens direction bornb sight direction of binocular camera 200 simultaneously；Vision measurement mechanism 300 records datum mark automatically simultaneously
Position, using one of camera lens module of binocular camera 200 as datum mark.
4) dsp module controls two cmos sensors to gather a two field picture respectively, is transferred to after fpga resume module
In system sdram module.Dsp module image is carried out the target recognition of target mechanism 100, disparity computation, after range measurement
To datum mark with the distance between target mechanism 100, this distance is the relatively primitive length of femoral head before replacing.By wireless
Mode is sent to display 400 this length information and shows, checks for doctor.
5) doctor starts to perform the operation, and for convenience of performing the operation, passes through display 400 operating robotic arm 210 by nurse, mobile solid thereon
Fixed binocular camera 200 moves on to clear area.
6) what doctor intercepted patient changes dead femoral head, changes artificial femur, it needs to be determined that during artificial femur length, by protecting
Scholar re-moves mechanical arm 210 in the display 400 of touch, and binocular camera 200 is returned to initial position.
7) after binocular camera 200 returns to initial position, restart to measure, calculate binocular camera 200 and arrive target mechanism
Length between 100, is contrasted this length simultaneously, and result of calculation is passed through with the measurement length between femoral head replacement
It is transmitted wire-lessly on display 400, point out doctor's current manual's femur with the difference between former femur length, help doctor
Positioning.
8) after positioning terminates, binocular camera 200 is moved to clear position, doctor completes femoral head replacement operation.
In femoral head replacement operation, can be so that binocular camera 200 be flexibly moved using mechanical arm 210 mode, it would however also be possible to employ
Binocular camera 200 is directly anchored at patient's hip joint by the modes such as nail, fixture, between measurement is with target mechanism 100 in real time
Length, and result is shown to display 400, auxiliary doctor completes to perform the operation.
From this application, the present invention proposes a kind of structure simply and operates stock during easily femoral head replacement operation
Bone length measurement apparatus, the quality for improving femoral head replacement operation provides effective technology means；This device takes into full account
Femoral head replacement operation and the technical characterstic of vision measurement, do not contact patient trauma face in measurement process, are non-cpntact measurement；With
When measurement result show in real time, auxiliary doctor performed the operation；This device be based on embedded system build, integrated level height, small volume,
Low cost, it is easy to promote the use of.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention.All
Any modification, equivalent substitution and improvement made within the spirit and principles in the present invention etc., are all contained in protection scope of the present invention
Interior.
Claims (7)
1. a kind of femur length measurement apparatus, for measuring the length of femur it is characterised in that this device in femoral head replacement
Including target mechanism, binocular camera, vision measurement mechanism and display；
Described target mechanism is used for being fixed on femur；
Described binocular camera is fixed with respect to the position of hip joint, for periodically gathering the image of described target mechanism；
The image information of binocular camera described in described vision measurement authorities, and judge described binocular according to this image information
Camera and the spacing of described target mechanism；
Described display is connected with described vision measurement mechanism, for showing between described binocular camera and described target mechanism
Away from；
Wherein, it is provided with two coms modules and two camera lens modules in described binocular camera, described two coms modules are respectively
For gathering the image of two camera lens modules, described vision measurement mechanism is integrated in described binocular camera, described vision measurement
Mechanism includes:
Embedded vision measurement module, for receiving the image of described coms module and carrying out sequential adjustment, by the figure after adjustment
As being sent to processor module；
Processor module, determines the position of target mechanism according to the image obtaining, and calculates this position and described processor module
The distance of the datum mark of definition, the datum mark of described processor module definition is one of camera lens mould of described binocular camera
Block；
Signal dispatcher module, is responsible for the data communication between described processor module and described display.
2. femur length measurement apparatus according to claim 1 it is characterised in that described target mechanism include place kick and
Nail, described place kick is arranged on the end of nail, and described nail is used for being fixedly connected on femur.
3. femur length measurement apparatus according to claim 1 are it is characterised in that described binocular camera is fixedly connected with folder
Tool or nail, described fixture or nail are used for being fixedly connected on described hip joint.
4. femur length measurement apparatus according to claim 1 it is characterised in that described binocular camera be fixedly connected organic
Tool arm, described mechanical arm is used for being fixedly connected on operating room ceiling or operation bedrest.
5. the femur length measurement apparatus according to any one of claim 1-4 it is characterised in that described display with described
Vision measurement mechanism is connected by wireless network.
6. femur length measurement apparatus according to claim 5 are it is characterised in that described embedded vision measurement module is adopted
Use fpga module, described fpga module is electrically connected with described two coms modules；Described processor module adopts dsp module, institute
State dsp module to electrically connect with described fpga module.
7. femur length measurement apparatus according to claim 6 are it is characterised in that described fpga module is also associated with sram
Module, for storage image information；Described dsp module is also associated with sdram module, for storing range information；
Described display is touch-sensitive display, sends the instruction of gathering information for human-computer interaction, and described dsp module foundation refers to
Order is transferred corresponding image information or range information and is shown on described display.
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| CN201410314709.9A CN104068861B (en) | 2014-07-03 | 2014-07-03 | Thighbone length measurement device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104856683B (en) * | 2015-05-26 | 2017-10-27 | 北京爱康宜诚医疗器材股份有限公司 | Femoral stem neck length measuring appliance |
| CN105424009A (en) * | 2015-12-17 | 2016-03-23 | 安徽寰智信息科技股份有限公司 | Binocular measuring device |
| CN105634469A (en) * | 2015-12-17 | 2016-06-01 | 安徽寰智信息科技股份有限公司 | Binocular measuring method and device thereof |
| CN105608427A (en) * | 2015-12-17 | 2016-05-25 | 安徽寰智信息科技股份有限公司 | Binocular measurement apparatus used in human-machine interaction system |
| CN107478205A (en) * | 2017-09-01 | 2017-12-15 | 西北工业大学 | Aero-engine high accuracy assembly quality detector device people's system |
| CN107669349A (en) * | 2017-10-11 | 2018-02-09 | 余江 | A kind of device positioned to late-segmental collapse, kneecap midpoint and the second phalanx and location equipment |
| CN108542408A (en) * | 2018-01-26 | 2018-09-18 | 潍坊学院 | A kind of 3 D stereo femoral head dimension measuring device |
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| US20120209117A1 (en) * | 2006-03-08 | 2012-08-16 | Orthosensor, Inc. | Surgical Measurement Apparatus and System |
| US20070239169A1 (en) * | 2006-03-17 | 2007-10-11 | Perception Raisonnement Action En Medecine | Reference marker and use in a motion tracking system |
| US20080146969A1 (en) * | 2006-12-15 | 2008-06-19 | Kurtz William B | Total joint replacement component positioning as predetermined distance from center of rotation of the joint using pinless navigation |
| JP2014508549A (en) * | 2010-12-17 | 2014-04-10 | アヴェニール メディカル インコーポレイテッド | Method and system for prosthesis alignment during surgery |
| US9314188B2 (en) * | 2012-04-12 | 2016-04-19 | Intellijoint Surgical Inc. | Computer-assisted joint replacement surgery and navigation systems |
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