CN105902271A - Lower limb side force line measurement device and method - Google Patents
Lower limb side force line measurement device and method Download PDFInfo
- Publication number
- CN105902271A CN105902271A CN201610216489.5A CN201610216489A CN105902271A CN 105902271 A CN105902271 A CN 105902271A CN 201610216489 A CN201610216489 A CN 201610216489A CN 105902271 A CN105902271 A CN 105902271A
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- China
- Prior art keywords
- side force
- force line
- lower limb
- limb side
- line measurement
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
Abstract
The invention reveals a lower limb side force line measurement device. The lower limb side force line measurement device includes a protective housing, a circuit board, a switch, a power supply, and a steel nail; the steel nail is movably arranged on the protective housing; the circuit board and the power supply are arranged in the protective housing; the switch is arranged outside of the protective housing; the circuit board is welded with a microprocessor, an accelerometer, a gyroscope, a magnetometer, and a Bluetooth transmission module, wherein the accelerometer, the gyroscope and the magnetometer are electrically connected to the microprocessor, and the micro processor is electrically connected to the Bluetooth transmission module; and the accelerometer, the gyroscope and the magnetometer measure corresponding data, the microprocessor performs algorithm treatment on the data, and a human body lower limb side force line is display in an external display device through the Bluetooth transmission module.
Description
Technical field
The present invention relates to technical field of medical instruments, particularly to a kind of lower limb side force line measurement apparatus and method.
Background technology
During knee prosthesis, lower limb side force line is that orthopedist compares concern, lays prosthese according to lower limb side force line
It it is the key of successful surgery.At present, by personal experience, doctor often judges that artificial joint is plugged into position, have bigger probability to cause
Replace improper even failed, can cause that pain, joint motion are limited, loosening, wear and tear and joint instability phenomenon, to patient and
Its family members bring and have a strong impact on.For replacement knee in arthroplasty, if wanting to improve success rate, make joint replacement more accurate, crucial
It is to find human tibia side force line position.
At present, special equipment or instrument not yet occur for measuring lower limb side force line, and then assisted accurately putting of joint
Change, and based on experience and subjective judgment, there is bigger uncertainty and artificial parallax, be easily generated error, bring misery to patient,
This is accomplished by a kind of efficient device and provides basis for estimation for operation.
Summary of the invention
Present invention is primarily targeted at the lower limb side force line measurement apparatus providing a kind of reliable, simple in construction and automatically measuring,
And can be widely used.
Another object of the present invention is to provide a kind of lower limb side force line measuring method, it passes through microprocessor according to lower limb side force line
The kinestate of measurement apparatus, obtains the measured value of accelerometer, gyroscope and magnetometer respectively, and passes through external connection display equipment
The positional information of display lower limb side force line.Measure accurately, and automaticity is high.
For reaching object above, the invention provides a kind of lower limb side force line measurement apparatus, it include protective housing, circuit board,
Switch, power supply and steel nail, described steel nail is movably arranged in described protective housing, and described circuit board and described power supply are arranged on institute
Stating the inside of protective housing, described circuit board and the electrical connection of described power supply, described switch is arranged on the outside of described protective housing,
And electrically connect with described circuit board；
Microprocessor, accelerometer, gyroscope, magnetometer and Bluetooth communication modules, described acceleration it is welded with on described circuit board
Degree meter, described gyroscope and magnetometer electrically connect with described microprocessor respectively, and described microprocessor also passes with described bluetooth
Defeated module electrically connects；
Described protective housing includes that upper cover and lower cover, described upper cover and described lower cover mutually fasten the some fixing grooves of formation, described electricity
Road plate is fixed on described fixing groove, and described lower cover is internally provided with battery case, and described power supply is arranged in described battery case, and
Being positioned at the lower section of described circuit board, described lower cover outer wall is provided with switch hole, described switch is arranged on described switch hole.
Correspondingly, also include that external connection display equipment, described external connection display equipment are connected with described Bluetooth communication modules communication.
Correspondingly, the inwall of described upper cover is provided with some first support columns, the inwall of described lower cover arranges some second
Dagger, described first support column and described second support column cooperatively form described fixing groove.
Correspondingly, described battery case is made up of two annular bar, and described in two, annular bar is oppositely arranged.
Correspondingly, described protective housing being provided with slot, described steel nail is movably arranged in described slot.
Specifically, the bottom of described steel nail is provided with base, and described base is movably arranged in described slot.As preferably, institute
State base triangular in shape.
Specifically, described steel nail is arranged on the outside of described upper cover, and is positioned at the center of described upper cover.
Correspondingly, described switch is positioned at the side of described protective housing.
Correspondingly, described protective housing is the protective housing that plastic resin material is made.As preferably, described protective housing is ABS material
The protective housing that material is made.
Correspondingly, described protective housing is square, cuboid or cylinder.
Present invention also offers a kind of lower limb side force line measuring method, specifically include following steps:
(1) lower limb side force line measurement apparatus is fixed on tested position by steel nail, and three-dimensional system of coordinate set up by microprocessor, wherein
The fixing point of steel nail is zero, and the axis of steel nail is Z axis；
(2) with zero for center of circle O (0,0,0), the tested position of circular motion, form lower limb side force line measurement apparatus
Coordinates of motion A (a, b, c), then directed quantity
(3) microprocessor is according to the kinestate of lower limb side force line measurement apparatus, obtains accelerometer, gyroscope and magnetic respectively
The measured value of power meter, and obtain the coordinate figure of A, when wherein the motion of lower limb side force line measurement apparatus measured by velometer
Linear acceleration；The angular acceleration during motion of lower limb side force line measurement apparatus measured by gyroscope；Under magnetometer measures
The magnetic field intensity during motion of limb side force line measurement apparatus；
(4) microprocessor is according to accelerometer, gyroscope and the measured value of magnetometer, calculatesθ and γ is formed, then calculate
Formula is as follows:
In formula,For vectorWith the angle of X-axis, θ is vectorWith the angle of Y-axis, γ is vectorWith
The angle of Z axis.
Correspondingly, external connection display equipment obtains the angle between lower limb side force line and steel nail axis by Bluetooth communication modules.
According to preferred embodiment, the invention provides following advantage:
(1) simple in construction, volume is little, low cost, and easy to operate.
(2) present invention is by accelerometer, gyroscope and the corresponding data of magnetometer measures, and is entered data by microprocessor
Line algorithm processes, then shows human femur under loading side force line by Bluetooth communication modules in external connection display equipment.Aforesaid operations only needs one to open
Closing and control to run, automaticity is high, beneficially popularization and application.
(3) present invention uses Bluetooth communication modules and extraneous display device communication, while meeting the communicating requirement of device itself,
The appearance of the limited cable winds avoiding outside.
(4) protective housing of the present invention is that ABS material is made, and has waterproof and dustproof function.
The present invention is further illustrated below in conjunction with drawings and Examples.
Accompanying drawing explanation
Fig. 1 is the explosive view of lower limb side force line measurement apparatus of the present invention；
Fig. 2 is the front view of lower limb side force line measurement apparatus of the present invention；
Fig. 3 is the sectional view in Fig. 2 along A-A；
Fig. 4 is the structural representation of lower casing of the present invention；
Fig. 5 is the structured flowchart of circuit board of the present invention.
Detailed description of the invention
Hereinafter describe and be used for disclosing the present invention so that those skilled in the art are capable of the present invention.Being preferable to carry out in below describing
Example is only used as citing, it may occur to persons skilled in the art that other obvious modification.The present invention defined in the following description
Ultimate principle can apply to other embodiments, deformation program, improvement project, equivalent and without departing from the present invention
The other technologies scheme of spirit and scope.
As shown in Figures 1 to 5, a kind of lower limb side force line measurement apparatus, it includes protective housing 3, circuit board, switch 4, electricity
Source and steel nail 1, steel nail 1 is movably arranged in protective housing 3, and circuit board and power supply are arranged on the inside of protective housing 3, electricity
Road plate and power supply electrical connection, this power supply is button cell, provides electric energy, switch 4 to be arranged on protective housing 3 for circuit board operation
Outside, and electrically connect with circuit board, this switch is for being turned on and off the work of lower limb side force line measurement apparatus；
Microprocessor 17, accelerometer 14, gyroscope 15, magnetometer 16 and Bluetooth communication modules 18 it is welded with on circuit board,
Accelerometer 14, gyroscope 15 and magnetometer 16 electrically connect with microprocessor 17 respectively, and microprocessor 17 is gone back and Bluetooth transmission
Module 18 electrically connects；
Protective housing 3 includes that upper cover 6 and lower cover 7, upper cover 6 and lower cover 7 mutually fasten the some fixing grooves 13 of formation, circuit board
Being fixed on fixing groove 13, lower cover 7 is internally provided with battery case 9, and power supply is arranged in battery case 9, and is positioned at circuit board
Lower section, lower cover 7 outer wall is provided with switch hole 8, and switch 4 is arranged on switch hole 8.
In one embodiment, also include that external connection display equipment, external connection display equipment are connected with Bluetooth communication modules 18 communication.Micro-
The data that processor generates can be transferred to external connection display equipment by Bluetooth communication modules 18, it is simple to user intuitively understands lower limb side force
The position of line.
Above-mentioned accelerometer and gyroscope use the MEMS sensor of the BMI160 model of BOSCH (Bosch) company of Germany,
BMI160 is integrated with accelerometer and gyroscope.Magnetometer uses the BMM150 model of BOSCH (Bosch) company of Germany
MEMS sensor.Microprocessor uses the microprocessor of the STM32F401CEU6 model of ST Microelectronics.Blue
Tooth transport module use the BlueNRG-MS Bluetooth processor of ST Microelectronics, BlueNRG-01D3 bluetooth transceiver and
The bluetooth ceramic antenna SLDA31-2R800G of Shenzhen 999sunlord electronics.
Lower limb side force line measurement apparatus operation principle of the present invention is as described below: first by steel nail, this device is fixed on human femur under loading
Far-end, after opening the switch in protective housing, is attached the bluetooth on this device with external equipment.If connecting unsuccessful,
Connection can be reattempted to, if success, then can rotate knee joint, now accelerometer, gyroscope and magnetometer collection gently in left and right
Joint motions data are also sent by Bluetooth communication modules after microprocessor processes.At this point it is possible to read stock in external connection display equipment
The position data of bone side force line, finally closes switch, and use terminates.Wherein the motion of lower limb side force line measurement apparatus measured by velometer
Time linear acceleration；The angular acceleration during motion of lower limb side force line measurement apparatus measured by gyroscope；Magnetometer measures lower limb side force line
Magnetic field intensity during measurement apparatus motion.
In one embodiment, the inwall of upper cover 6 is provided with some first support columns 12, the inwall of lower cover 7 is arranged some
Second support column 11, the first support column 12 and the second support column 11 cooperatively form fixing groove 13.The surrounding of circuit board is fixed on
In fixing groove 13, make the fixing-stable of circuit board, effective anti-locking apparatus wobble effects accelerometer 14, gyroscope 15 and magnetic force
Count 16 measurement structure, and easy for installation, simple in construction.As preferably, the quantity of fixing groove 13 is 6.
In one embodiment, battery case 9 is made up of two annular bar 10, and two annular bar 10 are oppositely arranged.
In one embodiment, protective housing 3 being provided with slot 2, steel nail 1 is movably arranged in this slot 2.Further
Ground, the bottom of steel nail 1 is provided with base 5, and base 5 is movably arranged in slot 2.As preferably, base 5 is triangular in shape.
When specifically used, first steel nail 1 can be fixed in knee joint, then protective housing 3 is fixed on the base 5 of slot 2
On, it is simple to fixing of device, if steel nail 1 is to be set directly in protective housing 3, bring difficulty to device is fixing.
Further, steel nail 1 is arranged on the outside of upper cover 6, and is positioned at the center of upper cover 6.
Correspondingly, switch 4 is positioned at the side of protective housing 3.This switch 4 switchs for ship type.
In one embodiment, the protective housing that protective housing 3 is made for plastic resin material.As preferably, protective housing 3 is ABS
The protective housing that material is made, has good biocompatibility, possesses the water proof and dust proof ability of IP6.5 rank.
In one embodiment, protective housing 3 in square, cuboid or cylinder.
Present invention also offers a kind of lower limb side force line measuring method, specifically include following steps:
(5) lower limb side force line measurement apparatus is fixed on tested position by steel nail, and three-dimensional system of coordinate set up by microprocessor, wherein
The fixing point of steel nail is zero, and the axis of steel nail is Z axis；
(6) with zero for center of circle O (0,0,0), the tested position of circular motion, form lower limb side force line measurement apparatus
Coordinates of motion A (a, b, c), then directed quantity
(7) microprocessor is according to the kinestate of lower limb side force line measurement apparatus, obtains accelerometer, gyroscope and magnetic respectively
The measured value of power meter, and obtain the coordinate figure of A, when wherein the motion of lower limb side force line measurement apparatus measured by velometer
Linear acceleration；The angular acceleration during motion of lower limb side force line measurement apparatus measured by gyroscope；Under magnetometer measures
The magnetic field intensity during motion of limb side force line measurement apparatus；
(8) microprocessor is according to accelerometer, gyroscope and the measured value of magnetometer, calculatesθ and γ is formed, then calculate
Formula is as follows:
In formula,For vectorWith the angle of X-axis, θ is vectorWith the angle of Y-axis, γ is vectorWith
The angle of Z axis.
In one embodiment, external connection display equipment obtains the folder between lower limb side force line and steel nail axis by Bluetooth communication modules
Angle.
When measuring the angle between the femur line of force and steel nail axis, lower limb side force line measurement apparatus is fixed on knee joint by steel nail,
Keeping patient's hip motionless, experiencing small oscillating movements knee joint up and down, it is considered as circular motion；Microprocessor is according to lower limb side force
The kinestate of line measurement apparatus, is obtained the measured value of accelerometer, gyroscope and magnetometer respectively, and is set by external display
Angle information between the standby display lower limb line of force and steel nail axis.
When measuring the angle between the tibia line of force and steel nail axis, lower limb side force line is measured and is fixed on tibia chi chung meta by steel nail
Put, protect patient's ankle invariant position, proximal tibia experiencing small oscillating movements；Microprocessor is according to the fortune of lower limb side force line measurement apparatus
Dynamic state, obtains the measured value of accelerometer, gyroscope and magnetometer respectively, and shows the lower limb line of force by external connection display equipment
And the angle information between steel nail axis.
Embodiment described above is merely to illustrate technological thought and the feature of the present invention, its object is to make the technology in this area
Personnel will appreciate that present disclosure and implement according to this, it is impossible to only limit the scope of the claims employing of the present invention with the present embodiment,
The most all equal changes made according to disclosed spirit or modification, still fall in the scope of the claims of the present invention.
Claims (9)
1. a lower limb side force line measurement apparatus, it is characterised in that: include protective housing (3), circuit board, switch (4),
Power supply and steel nail (1), described steel nail (1) is movably arranged in described protective housing (3), described circuit board and described power supply
Being arranged on the inside of described protective housing (3), described circuit board and the electrical connection of described power supply, described switch (4) is arranged on institute
State the outside of protective housing (3), and electrically connect with described circuit board；
Microprocessor (17), accelerometer (14), gyroscope (15), magnetometer (16) it is welded with on described circuit board
With Bluetooth communication modules (18), described accelerometer (14), described gyroscope (15) and magnetometer (16) are respectively
Electrically connecting with described microprocessor (17), described microprocessor (17) also electrically connects with described Bluetooth communication modules (18)；
Described protective housing (3) includes that upper cover (6) and lower cover (7), described upper cover (6) and described lower cover (7) are mutually detained
Closing and form some fixing grooves (13), described circuit board is fixed on described fixing groove (13), and described lower cover (7) is internal to be arranged
Having battery case (9), described power supply is arranged in described battery case (9), and is positioned at the lower section of described circuit board, described lower cover
(7) being provided with switch hole (8) on outer wall, described switch (4) is arranged on described switch hole (8).
2. lower limb side force line measurement apparatus as claimed in claim 1, it is characterised in that: also include external connection display equipment, described
External connection display equipment is connected with described Bluetooth communication modules (18) communication.
3. lower limb side force line measurement apparatus as claimed in claim 1, it is characterised in that: set on the inwall of described upper cover (6)
It is equipped with some first support columns (12), the inwall of described lower cover (7) arranges some second support columns (11), described first
Support column (12) and described second support column (11) cooperatively form described fixing groove (13).
4. lower limb side force line measurement apparatus as claimed in claim 1, it is characterised in that: described battery case (9) is by two annulars
Bar (10) forms, and annular bar described in two (10) is oppositely arranged.
5. lower limb side force line measurement apparatus frame as claimed in claim 1, it is characterised in that: described protective housing sets on (3)
Being equipped with slot (2), described steel nail (1) is movably arranged in described slot (2), and the bottom of described steel nail (1) is provided with
Base (5), described base (5) is movably arranged in described slot (2).
6. lower limb side force line measurement apparatus as claimed in claim 1, it is characterised in that: described switch (4) is positioned at described guarantor
The side of protective case body (3).
7. lower limb side force line measurement apparatus as claimed in claim 1, it is characterised in that: described protective housing (3) is ABS
The protective housing that material is made.
8. a lower limb side force line measuring method, it is characterised in that: specifically include following steps:
(1) lower limb side force line measurement apparatus is fixed on tested position by steel nail, and three-dimensional system of coordinate set up by microprocessor, wherein
The fixing point of steel nail is zero, and the axis of steel nail is Z axis；
(2) with zero for center of circle O (0,0,0), the tested position of circular motion, form lower limb side force line measurement apparatus
Coordinates of motion A (a, b, c), then directed quantity
(3) microprocessor is according to the kinestate of lower limb side force line measurement apparatus, obtains accelerometer, gyroscope and magnetic respectively
The measured value of power meter, and obtain the coordinate figure of A, when wherein the motion of lower limb side force line measurement apparatus measured by velometer
Linear acceleration；The angular acceleration during motion of lower limb side force line measurement apparatus measured by gyroscope；Under magnetometer measures
The magnetic field intensity during motion of limb side force line measurement apparatus；
(4) microprocessor is according to accelerometer, gyroscope and the measured value of magnetometer, calculatesθ and γ is formed, then calculate
Formula is as follows:
In formula,For vectorWith the angle of X-axis, θ is vectorWith the angle of Y-axis, γ is vectorWith
The angle of Z axis.
9. lower limb side force line measuring method as claimed in claim 8, it is characterised in that: external connection display equipment passes through Bluetooth transmission
Module obtains the positional information of lower limb side force line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610216489.5A CN105902271B (en) | 2016-04-08 | 2016-04-08 | Lower limb side force line measuring device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610216489.5A CN105902271B (en) | 2016-04-08 | 2016-04-08 | Lower limb side force line measuring device and method |
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| Publication Number | Publication Date |
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| CN105902271A true CN105902271A (en) | 2016-08-31 |
| CN105902271B CN105902271B (en) | 2019-09-17 |
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ID=56745690
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610216489.5A Active CN105902271B (en) | 2016-04-08 | 2016-04-08 | Lower limb side force line measuring device and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107913065A (en) * | 2017-12-08 | 2018-04-17 | 清华大学 | Three-dimensional joint angle measuring device |
| CN110236640A (en) * | 2019-07-04 | 2019-09-17 | 北京大学人民医院(北京大学第二临床医学院) | A kind of orthopaedics intelligence osteotomy navigation device and its application method |
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| US20140063220A1 (en) * | 2012-08-29 | 2014-03-06 | Ossur Hf | Method and Device for Ordering a Custom Orthopedic Device |
| CN203619557U (en) * | 2013-10-15 | 2014-06-04 | 北京飞渡朗颐医疗器械有限公司 | Valgus angle measurement block |
| WO2015196131A1 (en) * | 2014-06-19 | 2015-12-23 | Polaris Surgical, LLC | Systems and methods for measuring performance parameters related to artificial orthopedic joints |
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| Publication number | Publication date |
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| CN105902271B (en) | 2019-09-17 |
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