CN113940664A - Total hip replacement measurement system capable of measuring prosthesis posture - Google Patents
Total hip replacement measurement system capable of measuring prosthesis posture Download PDFInfo
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- CN113940664A CN113940664A CN202111187200.9A CN202111187200A CN113940664A CN 113940664 A CN113940664 A CN 113940664A CN 202111187200 A CN202111187200 A CN 202111187200A CN 113940664 A CN113940664 A CN 113940664A
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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
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
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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
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1075—Measuring physical dimensions, e.g. size of the entire body or parts thereof for measuring dimensions by non-invasive methods, e.g. for determining thickness of tissue layer
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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
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1077—Measuring of profiles
- A61B5/1078—Measuring of profiles by moulding
Abstract
The invention discloses a total hip replacement measurement system capable of measuring the posture of a prosthesis, which comprises a hip geometric modeling module, a hip motion simulation module, a hip maximum mobility detection module, a hip impact risk evaluation module, an acetabulum motion range display module and a femoral neck motion path display module. Long-time, continuous, dynamic measurements are made. 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 the operation, and is matched with the existing hip joint lower limb test model and the mortar cup prosthesis to completely simulate the motion posture of the real replaced ball head in the body. The invention solves the problem that the relative posture of the prosthesis can not 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 a prosthesis.
Background
In total hip replacement, due to the physiological structure 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 the prosthesis has certain angle requirements in the operation process, including 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 judge whether the motion of the prosthesis in the body of the patient meets the requirements or not. In hip joint replacement, the aim after prosthesis replacement is to adjust the structure of a normal hip joint, including the relative positions of an acetabulum and a ball head, the relative movement range of the ball head of the prosthesis relative to the acetabular cup and the like in the movement process of the hip joint, and the daily use requirements of a patient need to be met.
Firstly, the relative movement is felt by the fingers of the doctor, no quantitative index exists, and the movement condition of the prosthesis ball head in the mortar cup cannot be accurately quantified in the process of thigh movement of a patient.
Secondly, the relative movement is felt by the fingers of the doctors, the relative error is large, the slight difference of the angles cannot be accurately sensed, and meanwhile, different doctors have evaluation differences when performing the operation.
Thirdly, the installation of the acetabular prosthesis needs to ensure a certain inclination angle, including camber, anteversion and other angles, in order to make the hip joint close to the normal hip joint state after the prosthesis is installed to the maximum extent. At present, measures in the art include that an acetabulum file is matched with auxiliary instruments such as a position regulator and the like to ensure various inclination angles. However, the main potential problem of this method is that the operation difference between different users is large, the operation consistency cannot be guaranteed, and there is no evaluation standard after the operation is completed.
Fourth, conventional total hip replacement, the way in which the effect of prosthesis installation is evaluated intraoperatively, is currently with C-arm X-ray irradiation. The advantage is that the installation of the prosthesis in the patient can be visually seen. But the disadvantages are also more obvious: 1. the radiation irradiation has certain radioactivity and damages the patient, so the irradiation can not be performed for many times in the operation, and the reference significance is limited. 2. The device can only shoot images at fixed angles, and does not have a dynamic display function or a measurement function.
Disclosure of Invention
Therefore, the invention provides a total hip replacement surgery measurement 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 surgery.
In order to achieve the above purpose, the invention provides the following technical scheme:
the invention discloses a total hip arthroplasty measuring system capable of measuring the posture of a prosthesis, which comprises: the hip joint motion simulation system comprises a hip joint geometric modeling module, a hip joint motion simulation module, a hip joint maximum activity degree detection module, a hip joint impact risk evaluation module, an acetabulum motion range display module and a femoral neck motion path display module;
the hip joint geometric modeling module carries out simulation of special shapes on a femoral head prosthesis, a femoral neck prosthesis, a femoral stem prosthesis and a acetabular cup prosthesis, establishes a hip joint three-dimensional orthogonal rectangular coordinate system, and calculates joint angles of hip joints according to measured hip joint kinematics data;
the hip joint motion simulation module simulates the hip joint motion process according to all the parameters of the artificial hip joint model;
the hip joint maximum motion degree detection module judges the theoretical motion range of the artificial hip joint based on the simulation result of the hip joint motion simulation module, and the motion range theta angle of the prosthesis is the maximum motion range of the femoral neck prosthesis in the acetabular cup prosthesis;
the hip joint impact risk assessment module detects an included angle beta between the axis of the acetabulum prosthesis and the axis of the femoral neck prosthesis, and when the angle beta is larger than or equal to 0.9 times of angle theta/2, a warning window pops up to prompt a user that the current action has a collision or dislocation risk;
the acetabulum activity range display module displays the maximum motion range provided by the acetabulum cup prosthesis for the femoral neck prosthesis, and the display function of the maximum motion space of the artificial hip joint is influenced by a head-neck ratio, an acetabulum anteversion angle and an acetabulum overturning angle;
the femoral neck movement path display module can display the movement path of the axis of the femoral neck prosthesis in the movement of various lower limbs, and can display the movement path and the maximum movement space of the acetabular cup prosthesis simultaneously.
Furthermore, the hip joint three-dimensional orthogonal rectangular coordinate system is defined by two virtual mark points at the near end or two virtual mark points at the center and the far end of one joint, and the definition methods adopted by the hip joint three-dimensional orthogonal rectangular coordinate system for different parts of a human body are different.
Furthermore, the hip joint movement data is obtained from the measurement of the movement of the lower limbs of the human body, collected mark point space data of the hip and the thigh are converted into movement data of the pelvis and the femur of the human body, each limb segment needs to be defined and modeled through a collected static calibration file, the static calibration file comprises optical tracking mark points on each rigid body and position important information of virtual mark points for defining the far end and the near end of each limb segment, each limb segment is defined, a local coordinate system of each limb segment is also defined at the same time, and finally required joint angles, angular velocities and angular acceleration kinematic parameters of each joint are described through the coordinate system.
Furthermore, the hip joint geometric modeling module respectively simulates the femoral head prosthesis and the femoral neck prosthesis into a sphere and a segment of a vertebral body, the femoral stem is simulated into a vertebral body with 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 hip joint geometric modeling module can be described through a three-dimensional orthogonal rectangular coordinate system.
Further, the maximum mobility detection module of the hip joint determines a theoretical movement range theta of the artificial hip joint through a head-neck ratio GR of the prosthesis, an anteversion angle of a stem prosthesis, a neck trunk angle of the prosthesis, an anteversion angle of a femur, an anteversion angle of a cup insertion and an overturning angle of a cup insertion, the movement range theta angle of the prosthesis is the maximum movement range of the femoral neck prosthesis in the cup prosthesis and is determined by the geometric design of the head-neck ratio GR of the prosthesis, the femoral neck and the cup prosthesis, the head-neck ratio GR of the prosthesis 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 head-neck ratio GR of the prosthesis and the movement range theta angle of the prosthesis is as follows:
further, the hip joint impact risk evaluation module judges whether impact risk exists according to the theoretical motion 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 the angle beta is larger than or equal to theta/2, the hip joint impact risk evaluation module represents that the prosthesis is impacted, and simulation motion is stopped at the same time, and the angle beta at the moment is the maximum motion angle.
Further, the hip joint impact risk assessment module detects the size of the beta angle in real time, and when the beta angle is larger than or equal to 0.9 times of the theta/2 angle, software pops up a warning window to prompt a user that the current action has a collision or dislocation risk.
Furthermore, the acetabulum activity range display module displays the maximum motion space of the hip joint, the maximum motion space is the maximum motion range provided by the natural acetabulum or acetabular cup prosthesis for the femoral neck prosthesis, the range size of the maximum motion space can be actually represented by a motion range angle theta, the motion geometric space can be represented as a cone with the theta as the vertex, the femoral neck prosthesis can freely move in the geometric space without any impact, the vertex of the cone and the sphere center of the ball head prosthesis are positioned at the same origin O, various motion curves can be drawn on the spherical surface of the cone by the motion of the femoral neck prosthesis, the motion range angle theta is determined by the head-neck ratio, the artificial hip joint with the larger head-neck ratio has a larger cone space, and the femoral neck prosthesis has a larger activity range.
Furthermore, the motion data of the hip joint is obtained by the femoral neck motion path display module through human body kinematics measurement, the motion data obtained by the motion capture system, namely three-dimensional joint angles projected on three phase planes of the pelvis and the femur, are subjected to coordinate conversion, the joint angle data can be converted into a right-angle space coordinate of a distal end point of a femoral force line shaft on a femoral force line, the space motion coordinate of an axis end point of the femoral neck prosthesis can also be obtained through space coordinate conversion, and the continuous space motion coordinates are the space motion trail of the femoral neck prosthesis.
Further, the system also comprises an operation interface, all parameters are input on the operation interface, and the established geometric model, the proximal femur section and the motion 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 hip joint geometric model, performing motion simulation and combining the motion data of a 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 the operation, is matched with the existing hip joint lower limb test model and the mortar cup prosthesis, completely simulates the motion posture of the ball head of the real replacement in the body, improves the adaptation degree of the artificial hip joint and the patient, is beneficial to the rehabilitation of the patient, and simultaneously 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 should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
FIG. 1 is a schematic structural diagram of a testing apparatus according to an embodiment of the present invention;
FIG. 2 is a diagram illustrating hip pose definitions 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 a modeling structure of an artificial hip joint according to an embodiment of the present invention;
FIG. 5 is a top view of an artificial hip joint provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram of the conversion of joint angle data into rectangular spatial coordinates according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a motion trajectory of a femoral neck prosthesis according to an embodiment of the present invention.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
The embodiment discloses a total hip arthroplasty measuring system capable of measuring the posture of a prosthesis, which comprises: the hip joint motion simulation system comprises a hip joint geometric modeling module, a hip joint motion simulation module, a hip joint maximum activity degree detection module, a hip joint impact risk evaluation module, an acetabulum motion range display module and a femoral neck motion path display module;
referring to fig. 1 and 2, the measurement is performed using a measurement device consisting of a ball head housing, an internal measurement circuit, an external receiving device, and display software. The outer shell and the internal measuring circuit are arranged on the lower limbs in the operation and are in wireless communication with an external receiving device, the external device transmits data to PC end software, and the display software operated by the PC end displays the received data; the ball head shell is a real shape implanted with the prosthesis, and different models of prostheses match with shells with corresponding shapes aiming at different brands, so that the matching of the prosthesis and a ball head with a corresponding brand model can be ensured. The shell is made of medical plastics. The device can measure the posture data of the prosthesis at the lower extremity end relative to the acetabulum prosthesis in operation and display the data in a digital and image form. Wherein, the angle that can measure includes: rotation angle, deflection angle, abduction angle, anteversion angle. The posture of the prosthesis at the lower limb end in the operation relative to the acetabular cup can be continuously measured, dynamic continuous monitoring is realized, and measurement of all data in an expected movement range is conveniently realized. All data received in the using process is recorded, and the data is stored in a hard disk for installing display software. The data can be played back by the display software.
The hip joint geometric modeling module carries out simulation of special shapes on a femoral head prosthesis, a femoral neck prosthesis, a femoral stem prosthesis and a acetabular cup prosthesis, establishes a hip joint three-dimensional orthogonal rectangular coordinate system, and calculates joint angles of hip joints according to measured hip joint kinematics data;
the hip joint motion simulation module simulates the hip joint motion process according to all the parameters of the artificial hip joint model;
the hip joint maximum motion degree detection module judges the theoretical motion range of the artificial hip joint based on the simulation result of the hip joint motion simulation module, and the motion range theta angle of the prosthesis is the maximum motion range of the femoral neck prosthesis in the acetabular cup prosthesis;
the hip joint impact risk assessment module detects an included angle beta between the axis of the acetabulum prosthesis and the axis of the femoral neck prosthesis, and when the angle beta is larger than or equal to 0.9 times of angle theta/2, a warning window pops up to prompt a user that the current action has a collision or dislocation risk;
the acetabulum activity range display module displays the maximum motion range provided by the acetabulum cup prosthesis for the femoral neck prosthesis, and the display function of the maximum motion space of the artificial hip joint is influenced by a head-neck ratio, an acetabulum anteversion angle and an acetabulum overturning angle;
the femoral neck movement path display module can display the movement path of the axis of the femoral neck prosthesis in the movement of various lower limbs, and can display the movement path and the maximum movement space of the acetabular cup prosthesis simultaneously.
The hip joint three-dimensional orthogonal rectangular coordinate system is defined by two virtual mark points at the near end or two virtual mark points at the center and the far end of one joint, and the definition methods adopted by aiming at different parts of a human body are different.
The hip joint kinematic data is from the motion measurement of the lower limbs of the human body, and the collected marking point space data of the hip and the thigh are converted into the motion data of the pelvis and the femur of the human body. In fact, the measurement of the lower limb movement includes not only the left and right thighs and pelvis, but also the definition and establishment of the feet, the left and right crus, and seven limb segments in total. Each limb segment also needs to be defined and modeled by a static calibration file acquired, which includes important information such as optical tracking marker points on each rigid body and positions of virtual marker points defining the distal and proximal ends of each limb segment. When each limb segment is defined, a local coordinate system of each limb segment is defined, and finally required kinematic parameters such as joint angles, angular velocities, angular accelerations and the like of each joint are described through the coordinate system, and the kinematic measurement of the hip joint is mainly used in the following.
The local coordinate system of each limb segment of the human body is defined by two virtual mark points at the near end or the center of one joint and two virtual mark points at the far end, and the corresponding relation between the mark 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 end and the distal end. Taking fig. 3 as an example, G is a global coordinate system. Grey ball mt1、mt2、mt3、mt4Representing the tracking mark points, which constitute a rigid body fixed on the surface of the human body, the coordinate system of the mark point rigid body is M, and the origin vector is
Hollow ball mc1、mc2、mc3、mc4Respectively represent bone markers, Cp、CdAre respectively mc1、mc2And mc3、mc4The midpoint of the connecting line, which is approximately the joint center at the proximal end and the distal end, CmIs the center of mass, distance point CpAnd CdAre each a distance ofp、ldThe value is determined by a regression equation in anthropometry. The local coordinate system of the pelvis is a. m ist1、mt2、mt3、mt4、mc1、mc2、mc3、mc4、CmThe vectors in the global coordinate system are respectively
Taking a frame of data from the measured static file, having
These known quantities, let the origin of the pelvic bone local coordinate system be at Cm；
In the local coordinate system, zaShaft is composed ofdPoint of direction Cp：
yaAxis perpendicular to Cd、mc1、mc2Plane determined by three points:
determining x according to right-hand ruleaShaft:
the local coordinate system of thigh is defined by two bone mark points of hip joint center and far end, and its calculation method and applicationIts local coordinate system definition method is the same, yaAxis perpendicular to proximal joint center CdAnd two distal bone marker points, mc3、mc4The determined plane is as follows:
so far, the vector matrix of the local coordinate system corresponding to the pelvis and the femur can be determined, and through consistency processing, the unit vector matrix of the local coordinate system is shown as the following formula:
and a unit vector matrix e of a rigid coordinate system of the tracking mark pointmAnd origin vector
The four tracking mark points can be obtained by the similar method.
In the mark point rigid body coordinate system, the local coordinate axis vector matrix is expressed as
Therefore, the relation between the mark point rigid body coordinate system and the local coordinate system can be determined by using the data in the static calibration file, and the local coordinate system eaOnce defined, eamRemain unchanged.
So that the unit vector matrix of the k-th frame under the global coordinate system is the local coordinate system
Can be calculated from the following formula:
wherein e isamIs a constant, calculated,
marking a point rigid 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 vector matrix of each local coordinate system in the motion process through coordinate transformation.
In this embodiment, the hip geometry modeling module uses a geometry model of the left hip joint, the femoral head prosthesis and the femoral neck prosthesis are simulated as a sphere and a segment of a vertebral body, respectively, the femoral stem is simulated as a fixed-shape vertebral body, and the acetabular cup prosthesis is simulated as a hemisphere which is linked with the ball head model and is concentric with the sphere. A three-dimensional orthogonal rectangular coordinate system can describe its ground reference coordinate system as shown in fig. 4. The coordinate origin O is set as the sphere center of the ball head prosthesis; the X axis is the anatomical horizontal axis, pointing to the outside; the Y axis is an anatomical vector phase axis and points to the front of the human body; the Z-axis is the long anatomical axis and points above the body. Flexion/extension movements are performed with the X axis as the axis of rotation; abduction/adduction motion takes the Y axis as the rotation axis (also the floating axis of the femur); the internal/external rotation movement having the orthogonal axes of the former two axes as the rotation axis
In fig. 5, the axis of the acetabular prosthesis is perpendicular to the plane of the acetabular cup opening through the center of the acetabulum, D represents the diameter of the ball head prosthesis, and D represents the diameter of the femoral neck prosthesis. The range of motion theta of the prosthesis is also the range of oscillation angles of the artificial hip prosthesis. When the femoral neck is set to be a cylinder and the opening surface of the mortar cup is a plane without chamfer, GR is equal to D/D equal to 1/Cos (theta/2). And B is a 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 impact, if beta is larger than or equal to theta/2, the impact of the prosthesis is represented, and meanwhile, a prompt window is popped up.
The factors which can influence the theoretical movement of the hip joint are more, including eight factors, and the geometrical modeling of the hip joint prosthesis and the definition of the prosthesis implantation position are realized. The theoretical range of motion of the hip joint is determined by the diameter of the femoral head, the diameter of the femoral neck, the shaft angle, the anteversion angle of the femur, the overturning angle of the acetabulum and the anteversion angle of the acetabulum. The theoretical movable range of the artificial hip joint is determined by the head-neck ratio of the prosthesis, the anteversion angle of the stem prosthesis, the cervical shaft angle of the prosthesis, the femoral implantation anteversion angle, the acetabular cup implantation anteversion angle and the acetabular cup implantation overturning angle.
There is no practical difference in calculating the theoretical range of motion of the artificial hip joint. 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 fixed value, which is not reasonable to do so, which makes it impossible for some patients with severe lower limb deformation to use the model. The angle of the shaft of the neck is an important parameter and is usually provided directly by the manufacturer of the artificial joint. The head-neck ratio (GR) is included in the software, a parameter known to the physician, and has the same concept as the range of motion θ of the prosthesis, and may represent the maximum range of motion inherent to the prosthesis. Therefore, all clinically relevant implantation and prosthesis parameters related to theoretical mobility of the artificial hip joint are included.
The artificial hip model includes all eight parameters: a cup diameter (D'), a ball head diameter (D), a head-to-neck ratio (GR), a femoral stem abduction angle (SA), a cervical shaft angle (CCD), a cup Anteversion Angle (AA), a cup abduction Angle (AI) and a femur anteversion angle (FA).
D' and D determine the inner and outer diameters of the acetabular cup prosthesis; d and GR determine the prosthesis ball diameter and the femoral neck diameter; the GR has the same geometric meaning as the prosthesis pivot angle, which is related to the ball head, the diameter of the femoral neck, and the geometric design of the acetabular prosthesis and femoral neck prosthesis. When a cylindrical femoral neck is used, the cup opening is planar and there is no chamfer the GR represents the true neck-to-neck ratio 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 femoral neck Z axis, FA and SA, AA and 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 value ranges of the eight parameters are shown in table 1.
Table 1 table of values of parameters in software
The range of motion theta of the prosthesis is also the range of oscillation angles of the artificial hip prosthesis. And GR is equal to D/D is equal to 1/Cos (theta/2). Beta is a real-time change angle of the axis of the acetabulum prosthesis and the axis of the femoral neck prosthesis, the angle is used for detecting impact, if the beta is larger than or equal to theta/2, the impact of the prosthesis is represented, and meanwhile, a prompt window pops up.
The hip joint maximum motion degree detection module can measure a real-time variable beta angle (an included angle between an acetabulum prosthesis axis and a femur neck prosthesis axis), if the beta is larger than or equal to theta/2, the hip joint maximum motion degree detection module represents that the prosthesis is impacted, and simultaneously stops simulated motion, and the beta angle at the moment is the maximum motion 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-neck ratio and the geometric design of the femoral neck and the cup prosthesis, and comprises the following steps: chamfer of the opening surface, the appearance of the femoral neck, the outer edge of the mortar cup and the like. The geometric relationship between the neck ratio GR and the swing angle θ is shown by the following equation:
the hip joint impact risk assessment module automatically works in the motion simulation process, the function also detects the beta angle, once the beta angle is found to be larger than or equal to 0.9 times of the theta/2 angle, the software pops up a warning window to prompt a user that the current action has the risk of collision or dislocation.
The acetabulum activity range display module displays a maximum motion space, wherein the maximum motion space is the maximum motion range provided by the natural acetabulum or acetabular cup prosthesis for the femoral neck prosthesis, the range size of the maximum motion space can be actually expressed by a swing angle theta, and the space can be expressed as a spherical cone with the theta as a vertex. The femoral neck prosthesis can move freely in this geometric space without any impact. The vertex of the cone is at the same origin O with the spherical center of the ball head prosthesis, and the motion of the femoral neck prosthesis draws various motion curves on the spherical surface of the ball head prosthesis, as shown in fig. 6. The actual upper angle theta is determined by the head-neck ratio, the artificial hip joint with larger head-neck ratio has larger spherical cone space, the femoral neck prosthesis has larger moving range, and the patient can have better movement capability. At different acetabulum implantation angles, the orientation (normal direction) of the spherical cone space is also different, so that the display function of the maximum motion space of the artificial hip joint needs to determine three parameters: head-neck ratio, acetabulum anteversion angle, acetabulum capsizing angle.
The femoral neck movement path display module can display the movement path of the axis of the femoral neck (or the femoral neck prosthesis) in various lower limb behavioral movements, and the movement path can be displayed simultaneously with the Safe-ROM-Cone space of the acetabulum (or the acetabular cup prosthesis). In order to realize the function, the movement data of the hip joint needs to be obtained through human body kinematics measurement. The motion data obtained by the motion capture system is actually the three-dimensional joint angle of the pelvis and femur projected on three facies, as shown in fig. 6. In the figure, AO represents a femoral force line axis, BO represents a femoral neck axis, O represents a spherical center of the ball head prosthesis, a represents a distal end point of the femoral force line axis, B represents an axial end point of the femoral neck prosthesis, α represents a flexion/extension angle of a sagittal plane, β represents an abduction/adduction angle of a frontal plane, and γ represents an internal/external rotation angle of a cross section. Through coordinate conversion, the joint angle data can be converted into a rectangular space coordinate of a point A on a femoral force line, and a mathematical formula of a motion coordinate and a joint included angle is shown as the following formula:
x2+y2+z2＝1
through the formula, the spatial motion coordinate of A on the femoral force line can be obtained. As the A point on the femoral force line and the B vertex on the femoral neck axis have definite geometric relationship, the included angle of the A point and the B vertex on the femoral neck axis on the frontal plane is 180 degrees-CCD-SA, and the included angle on the cross section plane is FA, as shown in figure 4. Therefore, the spatial Motion coordinates of the vertex B 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 motion, the hip joint movement data of the squatting motion needs to be obtained through human body kinematics measurement, the data is input into software, and the movement track of the femoral neck in the whole squatting process can be displayed. By the method, as long as the lower limb movement can be measured by the human body movement capturing system, the movement track of the femoral neck in the movement can be obtained and displayed.
The system also comprises an operation interface which comprises 7 main functions, parameter setting, model establishment, motion simulation, maximum motion range detection, maximum motion range display, femoral neck motion track display and impact risk evaluation. All parameters can be input in a dialog box on the left, the model is displayed in the center of the screen, the motion relation between the proximal femur section and the prosthesis component is displayed on the right side of the screen, and the motion relation analysis mainly comprises two parts, namely a maximum motion range display function of the cup prosthesis and a motion trail display function of the femoral neck prosthesis. The boundaries of maximum motion provided with reference to the cup prosthesis of fig. 7 are illustrated using a spherical cone, the motion trajectory of the femoral neck prosthesis drawing various curves on the spherical cone surface
A three-dimensional parameterized hip joint motion analysis software is developed, which can simulate six activities and can investigate the impact and dislocation risks of the hip joint in various behavioral movements. The parameterized modeling and visualization function increases the possibility of clinical application, and a doctor can use the parameterized modeling and visualization function to perform prosthesis selection, optimize the prosthesis implantation position and evaluate the postoperative activity ability.
In the embodiment, 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 the operation, is matched with the existing hip joint lower limb test model and the mortar cup prosthesis, completely simulates the motion posture of the ball head of the real replacement in the body, improves the adaptation degree of the artificial hip joint and the patient, is beneficial to the rehabilitation of the patient, and simultaneously provides a more accurate treatment scheme for the above.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. A total hip arthroplasty measurement system capable of performing prosthesis pose measurements, the system comprising: the hip joint motion simulation system comprises a hip joint geometric modeling module, a hip joint motion simulation module, a hip joint maximum activity degree detection module, a hip joint impact risk evaluation module, an acetabulum motion range display module and a femoral neck motion path display module;
the hip joint geometric modeling module carries out simulation of special shapes on a femoral head prosthesis, a femoral neck prosthesis, a femoral stem prosthesis and a acetabular cup prosthesis, establishes a hip joint three-dimensional orthogonal rectangular coordinate system, and calculates joint angles of hip joints according to measured hip joint kinematics data;
the hip joint motion simulation module simulates the hip joint motion process according to all the parameters of the artificial hip joint model;
the hip joint maximum motion degree detection module judges the theoretical motion range of the artificial hip joint based on the simulation result of the hip joint motion simulation module, and the motion range theta angle of the prosthesis is the maximum motion range of the femoral neck prosthesis in the acetabular cup prosthesis;
the hip joint impact risk assessment module detects an included angle beta between the axis of the acetabulum prosthesis and the axis of the femoral neck prosthesis, and when the angle beta is larger than or equal to 0.9 times of angle theta/2, a warning window pops up to prompt a user that the current action has a collision or dislocation risk;
the acetabulum activity range display module displays the maximum motion range provided by the acetabulum cup prosthesis for the femoral neck prosthesis, and the display function of the maximum motion space of the artificial hip joint is influenced by a head-neck ratio, an acetabulum anteversion angle and an acetabulum overturning angle;
the femoral neck movement path display module can display the movement path of the axis of the femoral neck prosthesis in the movement of various lower limbs, and can display the movement path and the maximum movement space of the acetabular cup prosthesis simultaneously.
2. The total hip replacement measurement system capable of performing prosthesis posture measurement as claimed in claim 1, wherein the hip three-dimensional orthogonal rectangular coordinate system is defined by two virtual mark points at the proximal end or one virtual mark point at the center and two virtual mark points at the distal end, and the definition method adopted for different parts of human body is different.
3. The total hip arthroplasty measurement system capable of performing prosthesis posture measurement according to claim 1, wherein the hip joint movement data is derived from lower limb movement measurement of human body, the collected spatial data of markers of hip and thigh are converted into movement data of pelvis and femur of human body, each limb segment is defined and modeled by the collected static calibration file, the static calibration file comprises position important information of optical tracking markers on each rigid body and virtual markers defining the far and near ends of each limb segment, while each limb segment is defined, a local coordinate system of each limb segment is defined, and finally the joint angle, angular velocity and angular acceleration kinematic parameters of each joint are described by the coordinate system.
4. The total hip arthroplasty measurement system capable of performing prosthesis pose measurement according to claim 1, wherein the hip geometry modeling module simulates the femoral head prosthesis and the femoral neck prosthesis as a sphere and a segment of a vertebral body, respectively, the femoral stem is simulated as a fixed-shape vertebral body, the cup prosthesis is simulated as a hemisphere linked and concentric with the femoral head prosthesis, and the ground reference coordinate system thereof 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 the theoretical movement range θ of the artificial hip joint through a prosthesis neck-neck ratio GR, a stem prosthesis anteversion angle, a prosthesis neck shaft angle, a femur implantation anteversion angle, a cup implantation anteversion angle and a cup implantation overturn angle, the movement range θ of the prosthesis is the maximum movement range of the femur neck prosthesis in the cup prosthesis and is determined by the prosthesis neck-neck ratio GR and the geometric design of the femur neck and the cup prosthesis, the prosthesis neck-neck ratio GR is related to the diameters of the ball and the femur neck, and the geometric design of the acetabulum prosthesis and the femur neck prosthesis, and the geometric relation formula of the prosthesis neck-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 impact risk assessment module judges whether impact risk exists according to a theoretical motion range θ of the artificial hip joint and an included angle β between an acetabular prosthesis axis and a femoral neck prosthesis axis, if β is not less than θ/2, it represents that the prosthesis is impacted, and simulation motion is stopped, and the β angle at the moment is a maximum motion angle.
7. The total hip arthroplasty measurement system capable of performing prosthesis posture measurement according to claim 6, wherein the hip joint impact risk assessment module detects the size of the beta angle in real time, and when the beta angle is greater than or equal to 0.9 times of theta/2 angle, the software pops up a warning window to indicate that the current action of the user risks collision or dislocation.
8. A total hip arthroplasty measurement system according to claim 1 for performing a measurement of the pose of a prosthesis, the hip joint motion range display module is characterized in that the acetabulum motion range display module displays the maximum motion space of a hip joint, the maximum motion space is the maximum motion range provided by a natural acetabulum or acetabular cup prosthesis for a femoral neck prosthesis, the range size of the maximum motion space can be actually represented by a motion range angle theta, the motion geometric space can be represented as a cone with the theta as the vertex, the femoral neck prosthesis can freely move in the geometric space without any impact, the vertex of the cone and the sphere center of the ball head prosthesis are positioned at the same origin O, various motion curves can be drawn on the spherical surface of the cone by the motion of the femoral neck prosthesis, the motion range angle theta is determined by a head-neck ratio, an artificial hip joint with a large head-neck ratio has a large ball cone space, and the femoral neck prosthesis has a large motion range.
9. The total hip arthroplasty measuring system capable of measuring the posture of a prosthesis according to claim 1, wherein the femoral neck movement path display module obtains the movement data of the hip joint through human body kinematics measurement, and the movement data obtained through the motion capture system, namely the three-dimensional joint angles of the pelvis and the femur projected on three phase planes, performs coordinate transformation, and can convert the joint angle data into the right-angle spatial coordinates of the distal end point of the femoral force line axis on the femoral force line, and the spatial movement coordinates of the axial end point of the femoral neck prosthesis can also be obtained through spatial coordinate transformation, and the continuous spatial movement coordinates are the spatial movement trajectory of the femoral neck prosthesis.
10. The total hip arthroplasty measurement system capable of performing prosthesis posture measurement as claimed in claim 1, further comprising an operation interface, wherein all parameters are input on the operation interface, and the motion relationship among the established geometric model, the proximal femur and the prosthesis components is displayed on the operation interface.
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