CN105559884B - A kind of total hip arthroplasty midpelvis attitude acquisition method and system - Google Patents
A kind of total hip arthroplasty midpelvis attitude acquisition method and system Download PDFInfo
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- CN105559884B CN105559884B CN201610079471.5A CN201610079471A CN105559884B CN 105559884 B CN105559884 B CN 105559884B CN 201610079471 A CN201610079471 A CN 201610079471A CN 105559884 B CN105559884 B CN 105559884B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/32—Joints for the hip
- A61F2/34—Acetabular cups
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2/4603—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof
- A61F2/4609—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof of acetabular cups
Abstract
The present invention is that using pelvis static measuring devices, pelvis initial attitude is determined by measuring initial static pelvis frontal plane in the preoperative for a kind of total hip arthroplasty midpelvis attitude acquisition method and system；In art, on the basis of the initial attitude, pelvis dynamic measurement device is aligned with pelvis, realizes the real-time measurement of art midpelvis posture；Wherein, pelvis static measuring devices and pelvis dynamic measurement device measurement module having the same are provided with data acquisition module in measurement module, and data acquisition module includes motion sensor.System can be divided into three data acquisition, data processing and data transmission modules by function；It can be divided into pelvis static measuring devices and pelvis dynamic measurement device by component part, each section device all installs sensor, sensing data is real-time transmitted to terminal, pelvis posture is calculated and be shown on computers, the present invention can obtain pelvis posture in real time, and using the pelvis posture of acquisition as the reference of hip replacement surgery.
Description
Technical field
The invention belongs to medical electronic technical field, more particularly to a kind of total hip arthroplasty midpelvis posture obtains
Method and system.
Background technology
From the sixties in last century, artificial joint replacement gradually develops in China, becomes countless patients with joint diseases
Gospel.By taking hip replacement as an example, preferred indication is Osteoarthritis, other to be followed successively by aseptic necrosis of bone (such as
Caput femoris necrosis etc.), certain Hip Fractures (such as fracture of neck of femur), rheumatoid arthritis, traumatic arthritis, it is benign and dislike
Property bone tumour, ankylosing spondylitis etc., be widely used, pain relieved for patient.With the aging of population, Osteoarthritis
Patient populations are in up-trend, and the prosthetic replacement's operation carried out every year is also more and more.
One importance of hip replacement is ensured that acetabular component being properly aligned with relative to pelvis.Research shows that
Acetabular component, which is not appropriately aligned pelvis, will cause premature abrasion, tendency dislocation and patient uncomfortable.However, surgeon
It is how to realize acetabular component implantation alignment appropriate about greatest problem in artificial hip joint replacing operation to face now.
It is angle of splay and top rake that acetabular component, which is implanted into most important two angles,.Usually among plastic surgeon
Unified is that acetabular component is implanted into the ideal anatomical position being positioned in the primary bone of host's acetabular bone (for most patient
For be in 45 ° of angle of splay, 20 ° of top rake).However, the measurement of these special angles and the placement of prosthese are only passed through with doctor
It tests, it is difficult to realize and precisely put, and these desired angles are for the pelvis of patient, and patient is in hip replacement
It is covered by aseptic operation list during operation.Any position of patient's pelvis and the variation of posture in the course of surgery can not be by
It observes in real time, bigger error can be brought by only placing acetabular component with surgical experience.
Invention content
In order to overcome the disadvantages of the above prior art, the purpose of the present invention is to provide in a kind of total hip arthroplasty
Pelvis attitude acquisition method and system can accurately simulate real-time pelvis posture, make doctor when hip replacement carries out
Acetabular component can accurately be placed relatively in the course of surgery, the success rate and operation for substantially increasing hip replacement are treated
Effect.
To achieve the goals above, the technical solution adopted by the present invention is：
A kind of total hip arthroplasty midpelvis attitude acquisition method, wherein：
In the preoperative, using pelvis static measuring devices, the initial appearance of pelvis is determined by measuring initial static pelvis frontal plane
State；
In art, on the basis of the initial attitude, pelvis dynamic measurement device is aligned with pelvis, realizes art midpelvis appearance
The real-time measurement of state；
Wherein, the pelvis static measuring devices and pelvis dynamic measurement device measurement module having the same, the survey
It is provided with data acquisition module in amount module, the data acquisition module includes motion sensor.
The motion sensor obtains pelvis attitude data, and the attitude data of acquisition is wirelessly sent out, and utilizes
Radio receiver receives the data-signal and is handled on computers, finally shows the real-time attitude data of pelvis.
A kind of total hip arthroplasty midpelvis posture acquisition system, including：
Pelvis static measuring devices for measuring pelvis initial attitude；
Pelvis dynamic measurement device for measuring pelvis real-time attitude according to pelvis initial attitude；
Wherein, pelvimetry module, the bone are both provided in pelvis static measuring devices and pelvis dynamic measurement device
Basin measurement module includes data acquisition module, and the data acquisition module includes motion sensor.
The pelvis static measuring devices include fixed pedestal 1 and fixed pedestal 26, fixed pedestal 1 and fixed base
It is both provided with swingle 1 on seat 26, the stretchable bar 4 for indicating scale 3 is connected between two swingles 1, one of swingle
1 top installation pelvimetry module 1.
The pelvis dynamic measurement device includes pelvimetry module 2 11 and is used to fix pelvimetry module 2 11
In the needle 12 of pelvic plane.
The pelvimetry module 1 is consistent with 2 11 structure of pelvimetry module, includes protective shell 21, protective shell 21
Interior setting motion sensor 22, the motion sensor 22 include three axis accelerometer, three-axis gyroscope and three axle magnetometer.
The total hip arthroplasty midpelvis posture obtains system and may also include：
Data processing module, there are buffering areas for the data for acquiring motion sensor；
Data transmission module, for the frame data in the buffering area to be sent to extracorporeal treatment device；
Extracorporeal treatment device receives the data that the data transmission module is sent, and extracts exercise data, obtains hip replacement
The real-time attitude of operation midpelvis.
The data processing module is realized by a MCU；The data transmission module is sent outside data using wifi modes,
The extracorporeal treatment device is computer.
The extracorporeal treatment device includes：
For will be disassembled as the number of acceleration information, geomagnetic data and angular velocity data from the data of data transmission module
According to extraction module；
Calculate module with dynamic posture for carrying out pelvis static state according to the data of acquisition；
The attitude data calculated for showing posture measuring and calculating module, facilitates surgeon preferably to carry out hip joint and sets
The display module of hand-off art.
The use of the present invention will greatly reduce the difficulty of doctor's progress total hip arthroplasty, improve success rate of operation
And curative effect.
Description of the drawings
Fig. 1 is the product and mechanical structure schematic diagram of system of the present invention.
Fig. 2 is pelvic structures figure.
Fig. 3 is the hardware capability block diagram of system of the present invention.
Fig. 4 is the software functional block diagram of system of the present invention.
Specific implementation mode
The embodiment that the present invention will be described in detail with reference to the accompanying drawings and examples.
The present invention provides a kind of replacement of total hip midpelvis attitude acquisition method and systems, can be set in full hip-joint
When hand-off art carries out, pelvis posture is measured in real time, is operated and brings convenience to surgeon.
A kind of example product schematic diagram of the present invention is as shown in Figure 1, device shown in its center II is pelvis static measurement
Device, for measuring static pelvis frontal plane i.e. pelvis initial attitude, including fixed pedestal 1 and fixed pedestal 26, fixed base
It is both provided with swingle 1 on seat 1 and fixed pedestal 26, the stretchable bar 4 for indicating scale 3 is connected between two swingles 1,
The top installation pelvimetry module 1 of swingle 1 wherein on fixed pedestal 26.
Device shown in frame I is pelvis dynamic measurement device, including pelvimetry module 2 11 and for by pelvimetry
Module 2 11 is fixed on the needle 12 of pelvic plane.
Frame III is the enlarged drawing of pelvimetry module 1 and pelvimetry module 2 11, pelvimetry module 1 and pelvis
2 11 structure of measurement module is consistent, includes protective shell 21, in protective shell 21 setting motion sensor 22 and it is some other must
It includes three axis accelerometer, three-axis gyroscope and three axle magnetometer to want element, motion sensor 22.
It is described below clear to ensure, pelvic structures are simply introduced now, see Fig. 2.Characteristic point A joins for pubis in figure
It closes, characteristic point B and C are respectively right side anterior superior spine and left side anterior superior spine.It measures pelvis posture and measures thus 3 points of compositions
Pelvis frontal plane posture.
It is the operating process that doctor uses the present embodiment in full marrow joint replacement surgery below according to the above structure：
Step 1. doctor abrades the necrosis of patient's acetabular bone, disease part；
Battery is fitted into pelvimetry module 1 and (is powered on) by step 2., patient is placed in a certain comfortable position, and ensure
Its pelvis frontal plane can location set；
The fixed pedestal 1 of pelvis static measuring devices is placed in pubic symphysis by step 3. doctor, by adjusting stretch rod
Length, so that device length is met patient's pelvis measurement demand (such as：Make the distance between fixed pedestal 1 and fixed pedestal 26
Equal to the distance between right side anterior superior spine and pubic symphysis), and the fixed pedestal of the measuring device other end 26 is placed in right side
Anterior superior spine；
Step 4. doctor opens computer and corresponding program, can measure at this time pelvimetry module 1 before the ilium of right side on
Posture at spine passes through the posture of record of keys pelvimetry module 1 at this time.Swingle 1 pivots on before the ilium of left side
At spine, the posture of measurement module 1 at this is equally recorded.Concrete principle is as follows：
(1) respectively record dynamic measurement device in fig. 2 at C-A and B-A measurement module 1 posture, with Eulerian angles table
It is shown as euler1 and euler2.
(2) by the angle measured in (1), calculate the x-axis of corresponding measurement module 1 in world coordinate system to
MagnitudeWithIt willWithMultiplication cross is carried out, the normal vector of coronal-plane (parallel with pelvis frontal plane) is obtained
(3) by the angle measured in (1), calculate the y-axis of corresponding measurement module 1 in world coordinate system to
MagnitudeWithIt willWithMultiplication cross is carried out, the normal vector of sagittal plane is obtained(by left-to-right, i.e. C → B in Fig. 2).
(4) it obtainsWithThe posture of pelvis is obtained.
Step 5. doctor removes pelvis static measuring devices, and pelvis dynamic measurement device and step 4 are measured obtained bone
Basin initial attitude is aligned, and the needle of pelvis dynamic measurement device 12 is fixed in a certain characteristic point, such as right side anterior superior spine B
Place.
Patient can be placed in the posture for being convenient for surgical procedure by step 6. doctor, due to by step 5 by pelvis
Dynamic measurement device is fixed with pelvis, thus can measure pelvis posture in real time.
Step 7. doctor places acetabular bone according to the pelvis real-time attitude that step 6 measures, and same measurement should be placed on acetabular bone
Device, in order to go out angle of the acetabular bone relative to pelvis by reference to pelvis Attitude Calculation.
The function of the present embodiment is realized mainly comprising hardware and software two parts.Hardware components are mainly that above-mentioned pelvis is surveyed
Module is measured, realization principle is as shown in Figure 3.Be divided by function data acquisition module (sensor assembly), data processing and
Data transmission module realizes that the circuit of these functions is respectively positioned in pelvimetry module.
Illustrate the hardware components workflow below：
Step 1. battery is to each module for power supply；
Step 2. data processing module is realized by MCU, starts to configure motion sensor after the power-up；
Each sensor of step 3. starts gathered data, motion sensor with 50HZ frequencies to 3-axis acceleration, angular speed,
Magnetic field intensity is sampled；
The data that motion sensor acquires are stored in buffering area by step 4. data processing module；
After step 5. data acquisition, data are sent out with wireless (wifi) pattern；
After step 6. is sent completely, 3 are gone to step, circulating repetition.
The software section of the present embodiment mainly realizes in processor in vitro, computer as shown in Figure 4.It can divide by function
Calculate three module, posture display module parts for data extraction module, posture, as shown in Figure 4.The meter of software installation in vitro
It is the workflow of software below on calculation machine：
Step 1. data acquisition phase, computer receive the blended data that transmits of hardware, be split as acceleration information,
Geomagnetic data and angular velocity data；
Step 2. static attitude measures, and determines the corner around vertical axis according to three axis geomagnetic datas, passes through 3-axis acceleration
Data are determined around two horizontal Shaft angles, and then obtain static attitude data；
Step 3. dynamic attitude measurement can be into Mobile state attitude detection, basic principle according to three axis angular rate data
Three axis angular rate data are integrated, the rotation angle around each axis is obtained；
The data resolved by static attitude are carried out data by step 4. with the data integrated by angular speed
It merges, i.e. final pelvis dynamic attitude data can be obtained in Kalman filtering in Fig. 4；
Step 5. shows finally obtained attitude data in order to the mode of intuitivism apprehension.
After the completion of above-mentioned software work, doctor can ensure that manual acetabulum is mounted on suitable angle, and then avoid
Early abrasion, tendency dislocation and patient are uncomfortable.
Claims (5)
1. a kind of total hip arthroplasty midpelvis posture obtains system, which is characterized in that including：
Pelvis static measuring devices for measuring pelvis initial attitude, the pelvis static measuring devices include fixed pedestal one
(2) and fixed pedestal two (6) it, is both provided with swingle (1) on fixed pedestal one (2) and fixed pedestal two (6), indicates scale
(3) stretchable bar (4) is connected between two swingles (1), and pelvimetry module is installed at the top of one of swingle (1)
One (5)；
Pelvis dynamic measurement device for measuring pelvis real-time attitude according to pelvis initial attitude, pelvis dynamic measurement device packet
Include pelvimetry module two (11) and the needle (12) for pelvimetry module two (11) to be fixed on to pelvic plane；
The pelvimetry module one (5) is consistent with pelvimetry module two (11) structure, includes protective shell (21), protective shell
(21) setting motion sensor (22) in, the motion sensor (22) includes three axis accelerometer, three-axis gyroscope and three axis
Magnetometer.
2. total hip arthroplasty midpelvis posture obtains system according to claim 1, which is characterized in that further include：
Data processing module, there are buffering areas for the data for acquiring motion sensor；
Data transmission module, for the frame data in the buffering area to be sent to extracorporeal treatment device；
Extracorporeal treatment device receives the data that the data transmission module is sent, and extracts exercise data, obtains hip replacement surgery
The real-time attitude of midpelvis.
3. total hip arthroplasty midpelvis posture obtains system according to claim 2, which is characterized in that the data
Processing module is realized by a MCU；The data transmission module is sent outside data using wifi modes, and the extracorporeal treatment device is
Computer.
4. obtaining system according to total hip arthroplasty midpelvis posture described in Claims 2 or 3, which is characterized in that described
Extracorporeal treatment device includes：
For the data that the data dismantling from data transmission module is acceleration information, geomagnetic data and angular velocity data to be carried
Modulus block；
Calculate module with dynamic posture for carrying out pelvis static state according to the data of acquisition；
The attitude data calculated for showing posture measuring and calculating module, facilitates surgeon preferably to carry out hip replacement hand
The display module of art.
5. total hip arthroplasty midpelvis posture obtains system according to claim 4, which is characterized in that described external
Processor determines the corner around vertical axis, passes through 3-axis acceleration number according to three axis geomagnetic data in pelvis static measuring devices
According to determining around two horizontal Shaft angles, and then obtain static attitude data；The extracorporeal treatment device is according to pelvis dynamic measurement device
In three axis angular rate data into Mobile state attitude detection, basic principle is to integrate three axis angular rate data, obtain around
The rotation angle of each axis, by the data resolved by static attitude and the data that are integrated by angular speed into line number
According to fusion, i.e. Kalman filtering, to obtain final pelvis dynamic attitude data.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106880425B (en) * | 2017-04-10 | 2018-12-28 | 清华大学 | Total hip arthroplasty midpelvis posture and prosthese setting angle acquisition methods and system |
| CN108283561A (en) * | 2018-01-29 | 2018-07-17 | 北京大学深圳医院（北京大学深圳临床医学院） | Real-time monitoring device and method for the displacement of hip replacement midpelvis |
| CN112971983B (en) * | 2021-02-03 | 2022-09-09 | 广州导远电子科技有限公司 | Attitude data measuring method and device, electronic equipment and storage medium |
| CN113456254B (en) * | 2021-08-05 | 2022-06-21 | 电子科技大学 | Hip socket anteversion angle and abduction angle measuring system and method in hip joint replacement |
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