CN115005988A - Positioning error measuring device and method - Google Patents

Positioning error measuring device and method Download PDF

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Publication number
CN115005988A
CN115005988A CN202210770231.5A CN202210770231A CN115005988A CN 115005988 A CN115005988 A CN 115005988A CN 202210770231 A CN202210770231 A CN 202210770231A CN 115005988 A CN115005988 A CN 115005988A
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China
Prior art keywords
base
hole
position information
positioning error
module
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CN202210770231.5A
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Chinese (zh)
Inventor
田华
耿霄
李锋
田梦泽
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Peking University Third Hospital Peking University Third Clinical Medical College
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Peking University Third Hospital Peking University Third Clinical Medical College
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Priority to CN202210770231.5A priority Critical patent/CN115005988A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3904—Markers, e.g. radio-opaque or breast lesions markers specially adapted for marking specified tissue
    • A61B2090/3916—Bone tissue

Abstract

The invention provides a positioning error measuring device and a method, comprising the following steps: the measuring device comprises a base and a measuring plate inserted on the base; the base is gun-shaped, a plurality of position holes corresponding to the positions of the bones and a plurality of connecting holes used for being connected with the measuring plate in an inserting mode are formed in the base, and the connecting holes are arranged at intervals and form an arc shape. The advantages are that: calculating the length error of the hip joint operation navigation system by comparing the distances of the marking modules which are collected and installed on the base for multiple times; the angle error of the hip surgery navigation system is calculated by comparing the actual abduction angle mounted on the base and the measured abduction angle acquired multiple times.

Description

Positioning error measuring device and method
Technical Field
The invention relates to the technical field of hip joint surgery navigation systems, in particular to a positioning error measuring device and method.
Background
The operation navigation system, namely the computer-aided surgery, organically combines the modern image technology, the stereotactic technology, the electronic computer technology and the artificial intelligence technology with a surgeon, and fully utilizes information to ensure that a patient obtains safe, accurate and minimally invasive operation treatment. Compared with the traditional surgical operation, the operation navigation system can make an optimal operation scheme through operation processing, track the position of the surgical instrument, update the position of the surgical instrument on an image in the operation in real time, and provide accurate reference for a doctor in the operation.
However, the conventional measurement process usually includes length errors and angle errors, so that the accuracy and precision of the acquired data are reduced, and the subsequent operation effect is affected.
Disclosure of Invention
The invention provides a positioning error measuring device and a positioning error measuring method, which achieve the purpose of improving the subsequent operation effect by measuring length errors and angle errors and improving the accuracy and precision of acquired data.
In order to achieve the above purpose, the invention provides the following technical scheme:
the first aspect of the present invention protects a positioning error measurement apparatus and method, including: the measuring device comprises a base and a measuring plate inserted on the base;
the base is gun-shaped, a plurality of position holes corresponding to the positions of the bones and a plurality of connecting holes used for being plugged with the measuring plate are formed in the base, and the connecting holes are arranged at intervals and form an arc shape.
Preferably, the position holes are formed in the base in the directions of the transverse edge and the longitudinal edge at intervals, and the connecting holes are located between the position holes formed in the directions of the transverse edge and the longitudinal edge.
Preferably, the measuring plate comprises two vertically arranged inserting columns and a disc vertically fixed at the tops of the inserting columns, and the inserting columns are used for being inserted into the connecting holes to be connected with the base;
wherein the position hole is marked by a marking module in the hip surgery navigation system to measure the position information.
Preferably, the hip joint surgery navigation system further comprises an acquisition module, a control module and a navigation module, wherein the acquisition module outputs the acquired position information to the acquisition module, the position information is acquired by the acquisition module and then output to the control module, and the acquired position information is subjected to data conversion and analysis by the control module and then output and displayed by the navigation module.
The second aspect of the present invention protects a positioning error measurement method, characterized in that: the method comprises the following steps:
s1, installing a marking module on the hip joint operation navigation system on a position hole of a base to measure position information corresponding to anterior superior iliac spine, pelvis and femur, transmitting the position information to an acquisition module, converting the position information through control module data, and outputting the converted position information to a navigation module for display;
the length error of the hip joint surgery navigation system is calculated by the following specific formula:
Figure BDA0003727029680000021
wherein n is the number of measurements;
A. b is the absolute position of the corresponding pelvis and femur respectively;
A i B i -the nth measurement A, B of the distance between two points.
Preferably, in step S1, the measurement coordinate system is determined by corresponding to the position information of the anterior superior iliac spine, the position information of the corresponding pelvis and the position information of the corresponding femur are absolute positions A, B, and the distance a between the two absolute positions is calculated i B i 。
Preferably, in step S1, the coordinate systems of the absolute positions A, B are (x) respectively A1 ，y A1 ，z A1 )、(x B1 ，y B1 ，z B1 ) And repeating the step S1 to obtain A 2 B 2 、A 3 B 3 、A 4 B 4 、A 5 B 5 、A 6 B 6 。
Preferably, the positioning error measuring method protected by the second aspect further includes
S2, measuring an actual included angle between a connecting line of a plurality of groups of connecting holes on the base and a connecting line of a position hole at the corresponding anterior superior iliac spine as an actual abduction angle;
s3, inserting the measuring plate into the connecting hole on the base, randomly collecting three points on the outer wall of the measuring plate for a plurality of times, calculating an extension line of an intersection line of a plane formed by the three points collected each time and a plane where the base plate is located, and taking an included angle formed between the extension line and a connecting line of the position hole corresponding to the anterior superior iliac spine as a measuring abduction angle;
s4, putting the actual abduction angle measured in the step S2 and the measured abduction angle measured in the step S3 into the following formula to calculate the angle error of the hip joint surgery navigation system:
Figure BDA0003727029680000031
wherein:
n is the number of measurements;
α 0 、β 0 、γ 0 -are the actual abduction angles of different positions on the base;
α i 、β i 、γ i the i-th measurement abduction angles measured at different positions of the measurement plate are all measured.
Preferably, the position holes are formed in the base in the directions of the transverse edge and the longitudinal edge at intervals, and the connecting holes are located between the position holes formed in the directions of the transverse edge and the longitudinal edge.
Preferably, the measuring plate comprises two vertically arranged inserting columns and a disc vertically fixed at the tops of the inserting columns, and the inserting columns are used for being inserted into the connecting holes to be connected with the base;
wherein the position hole is marked by a marking module in the hip surgery navigation system to measure the position information.
The invention relates to a positioning error measuring device and a method, which has the advantages that: calculating the length error of the hip joint operation navigation system by comparing the distances of the marking modules which are collected and installed on the base for multiple times; calculating the angle error of the hip joint operation navigation system by comparing the actual abduction angle collected and installed on the base for many times with the measured abduction angle; important basis is provided for the precision and accuracy of the hip joint surgery navigation system;
the tool used in the invention has the advantages of simple structure, convenient operation, convenient calculation method and low professional requirement on operators, and is suitable for popularization and application.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic perspective view of a positioning error measuring apparatus according to the present invention;
FIG. 2 is a schematic diagram of the modular connections of the hip surgical navigation system;
wherein:
the device comprises a base 1, a measuring plate 2, an inserting column 21 and a disc 22;
position hole 3, first hole 31, second hole 32, ninth hole 33, tenth hole 34, eleventh hole 35;
a connecting hole 4, a third hole 41, a fourth hole 42, a fifth hole 43, a sixth hole 44, a seventh hole 45 and an eighth hole 46;
the system comprises a marking module 4, an acquisition module 5, a control module 6 and a navigation module 7.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Referring to fig. 1, the positioning error measuring apparatus of the present invention includes a base 1 and a measuring plate 2 inserted on the base 1; in this embodiment, the base 1 is a special-shaped stretching body.
The base 1 is gun-shaped, and is provided with a plurality of position holes 3 (such as a first hole 31, a second hole 32, a ninth hole 33, a tenth hole 34 and an eleventh hole 35 in fig. 1) corresponding to the positions of bones and a plurality of connecting holes 4 (such as a third hole 41-an eighth hole 46) for being inserted with the measuring plate 2, wherein the connecting holes 4 are arranged at intervals and form an arc shape;
of holes 31 and 32The included angle between the connecting line and the connecting lines of the third hole 41 and the fourth hole 42 is alpha 0 The included angle between the connecting line of the first hole 31 and the second hole 32 and the connecting line of the fifth hole 43 and the sixth hole 44 is beta 0 The included angle between the connecting line of the first hole 31 and the second hole 32 and the connecting line of the seventh hole 45 and the eighth hole 46 is gamma 0 。
In a specific implementation manner, the position holes 3 are formed at intervals in the directions of both the lateral side and the longitudinal side of the base 1, and the plurality of connecting holes 4 are located between the position holes 3 formed in the directions of the lateral side and the longitudinal side (as shown in fig. 1). The measuring plate 2 comprises two vertically arranged inserting columns 21 and a circular disc 22 vertically fixed at the tops of the inserting columns 21, and the inserting columns 21 are used for being inserted into the connecting holes 4 to be connected with the base 1;
wherein the position hole 3 is marked by a marking module 4 in the hip surgery navigation system to measure position information.
Further, as shown in fig. 2, the navigation system for hip joint surgery further includes an acquisition module 5, a control module 6, and a navigation module 7, where the acquisition module 5 outputs the acquired position information to the acquisition module 5, the acquisition module 5 acquires the position information and outputs the acquired position information to the control module 6, and the control module 6 converts and analyzes the acquired position information and outputs and displays the acquired position information through the navigation module 7.
More specifically, the marking module 4: marking position information for identifying bones;
the acquisition module 5: collecting position information of a marking module;
the control module 6: carrying out data conversion and analysis on the collected position information;
the navigation module 7: the position information is used for displaying the specific position information of the control module 6;
and the third hole 41-the fourth hole 42, the fifth hole 43-the sixth hole 44, the seventh hole 45-the eighth hole 46 are matched with the measuring plate 2, the first hole 31, the second hole 32, the ninth hole 33, the tenth hole 34 and the eleventh hole 35 are matched with the marking module, and the base 1 provides a base for the measuring plate 2 and the marking module.
First hole 31-second hole 32 are matched with first marking module, ninth hole 33-tenth hole 34 are matched with second marking module, and eleventh hole 35 is matched with third marking module.
The invention relates to a positioning error measuring method, which specifically comprises the following steps:
s1, respectively installing a first marking module, a second marking module and a third marking module on the hip joint operation navigation system on a position hole 3 of a base 1, wherein the first marking module is matched with a first hole 31-a second hole 32, the second marking module is matched with a ninth hole 33-a tenth hole 34, and the third marking module is matched with an eleventh hole 35;
the position information corresponding to the anterior superior iliac spine (corresponding to the first hole 31-the second hole 32), the pelvis (corresponding to the ninth hole 33-the tenth hole 34) and the femur (corresponding to the eleventh hole 35) is measured, transmitted to the acquisition module 5, subjected to data conversion by the control module 6 and then output to the navigation module 7 for display;
in the above steps, after the position information (i.e. the position information of the first marking module) at the anterior superior iliac spine is collected by the collecting module 5, the position information is transmitted to the control module 6, is subjected to data conversion, and is output to the navigation module 7 for display, so as to determine a measurement coordinate system for later use; the position information of the second marking module and the third marking module is collected by the same measuring method to respectively obtain the absolute position A (x) of the second marking module in the coordinate system A1 ，y A1 ，z A1 )、B(x B1 ，y B1 ，z B1 ) To determine a measurement coordinate system, the position information corresponding to the pelvis and the position information corresponding to the femur are absolute positions A, B, and the distance A between the two absolute positions is calculated i B i 。
Repeating the above steps five times to obtain A 1 B 1 、A 2 B 2 、A 3 B 3 、A 4 B 4 、A 5 B 5 、A 6 B 6 And taking the average value as the system length error.
The length error of the hip joint surgery navigation system is calculated by the following specific formula:
Figure BDA0003727029680000061
wherein n is the number of measurements;
A. b is the absolute position of the corresponding pelvis and femur respectively;
A i B i -the nth measurement A, B of the distance between two points.
Further, to obtain the angle error of the hip joint surgery navigation system, the following steps are carried out immediately:
s2, measuring an actual included angle between a connecting line of a plurality of groups of connecting holes 4 on the base 1 and a connecting line of a position hole 3 at the corresponding anterior superior iliac spine as an actual abduction angle;
the method comprises the following specific steps: the included angle formed by the connecting line between the first hole 31 and the second hole 32 and the connecting line between the third hole 41 and the fourth hole 42 is alpha 0 The connecting line between the first hole 31 and the second hole 32 and the connecting line between the fifth hole 43 and the sixth hole 44 form an included angle beta 0 The connecting line between the first hole 31 and the second hole 32 and the connecting line between the seventh hole 45 and the eighth hole 46 form an included angle gamma 0 I.e. alpha 0 、β 0 、γ 0 Actual abduction angles of different positions on the base 1 are reserved;
s3, inserting the measuring plate 2 into the connecting hole 4 on the base 1, randomly collecting three points on the outer wall of the measuring plate 2 for 5 times, and calculating an included angle formed by an extension line of an intersection line of a plane formed by the three points collected each time and a plane where the base plate is located and a connecting line of a position hole 3 corresponding to the anterior superior iliac spine as a measuring abduction angle;
specifically, for example, taking fig. 1 as an example, three points are randomly taken 5 times on the measuring plate 2, so that the extension lines of the intersection lines of the plane formed by the three points and the plane of the bottom plate form included angles γ between the connecting lines between the same number of holes 31 and the second number of holes 32 respectively 1 、γ 2 、γ 3 、γ 4 、γ 5 、γ 6 Namely measuring the abduction angle;
similarly, the measuring plate 2 is inserted into the third hole 41 and the fourth hole 42, and the abduction angle measured by the hip joint surgery navigation system is measured asα 1 ，α 2 ，α 3 ，α 4 ，α 5 ，α 6 (ii) a The measuring plate 2 is inserted into the fifth hole 43 and the sixth hole 44, and the abduction angle measured by the hip joint operation navigation system is beta 1 ，β 2 ，β 3 ，β 4 ，β 5 ，β 6 ；
S4, putting the actual abduction angle measured in the step S2 and the measured abduction angle measured in the step S3 into the following formula to calculate the angle error of the hip joint surgery navigation system:
Figure BDA0003727029680000071
wherein:
n is the number of measurements;
α 0 、β 0 、γ 0 the actual abduction angles of different positions on the base 1 are all the same;
α i 、β i 、γ i the i-th measurement abduction angles are all measured at different positions of the measurement plate 2.
And obtaining the angle error of the system after multiple measurements and calculation by adopting the angle error formula.
The measuring method of the invention can judge the length error and the angle error of the hip joint operation navigation system through the required position information and the operation of the navigation module 7. The accuracy and precision of the hip surgery navigation system are determined by errors of the hip surgery navigation system, and the hip surgery navigation system is an important reference for navigation in hip surgery.
The invention relates to a measuring method aiming at errors of a hip joint operation navigation system in the length and angle measuring process, and the navigation system can be more accurately used after the length error and the angle error of the hip joint operation navigation system are obtained.
Principles, structures, processes, etc. not explicitly described in the present invention are all available to the skilled person via conventional technical means, such as measurement of the actual abduction angle, etc.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. A positioning error measuring apparatus characterized in that: comprises a base (1) and a measuring plate (2) inserted on the base (1);
the base (1) is gun-shaped, a plurality of position holes (3) corresponding to the positions of bones and a plurality of connecting holes (4) used for being connected with the measuring plate (2) in an inserting mode are formed in the base, and the connecting holes (4) are arranged at intervals and form an arc shape.
2. A positioning error measuring apparatus according to claim 1, characterized in that: the position holes (3) are formed in the transverse edge direction and the longitudinal edge direction of the base (1) at intervals, and the connecting holes (4) are located between the position holes (3) formed in the transverse edge direction and the longitudinal edge direction.
3. A positioning error measuring apparatus according to claim 1, characterized in that: the measuring plate (2) comprises two vertically arranged inserting columns (21) and a disc (22) vertically fixed at the tops of the inserting columns (21), and the inserting columns (21) are used for being inserted into the connecting holes (4) to be connected with the base (1);
wherein the position hole (3) is marked by a marking module (4) in the hip joint surgery navigation system to measure position information.
4. A positioning error measuring apparatus according to claim 3, characterized in that: the hip joint surgery navigation system further comprises an acquisition module (5), a control module (6) and a navigation module (7), wherein the acquisition module (5) outputs acquired position information to the acquisition module (5), the position information is acquired by the acquisition module (5) and then output to the control module (6), and the acquired position information is subjected to data conversion and analysis by the control module (6) and then output and displayed by the navigation module (7).
5. A positioning error measurement method is characterized in that: the method comprises the following steps:
s1, installing a marking module on the hip joint surgery navigation system on a position hole (3) of a base (1) to measure position information corresponding to anterior superior iliac spine, pelvis and femur, transmitting the position information to an acquisition module (5), converting the data by a control module (6), and outputting the data to a navigation module (7) for display;
the length error of the hip joint surgery navigation system is calculated by the following specific formula:
Figure FDA0003727029670000021
wherein n is the number of measurements;
A. b is the absolute position of the corresponding pelvis and femur respectively;
A i B i -the nth measurement A, B of the distance between two points.
6. The positioning error measurement method according to claim 5, characterized in that: in step S1, the measurement coordinate system is determined by the position information corresponding to the anterior superior iliac spine, the position information corresponding to the pelvis and the position information corresponding to the femur are both absolute positions A, B, and the distance a between the two absolute positions is calculated i B i 。
7. The positioning error measurement method according to claim 5, characterized in that: in step S1, the coordinate system of the absolute position A, B is (x) A1 ，y A1 ，z A1 )、(x B1 ，y B1 ，z B1 ) And repeating the step S1 to obtain A 2 B 2 、A 3 B 3 、A 4 B 4 、A 5 B 5 、A 6 B 6 。
8. The positioning error measurement method according to claim 5, characterized in that: also comprises
S2, measuring an actual included angle between a connecting line of a plurality of groups of connecting holes (4) on the base (1) and a connecting line of a position hole (3) corresponding to the anterior superior iliac spine as an actual abduction angle;
s3, inserting the measuring plate (2) into the connecting hole (4) on the base (1), randomly collecting three points on the outer wall of the measuring plate (2) for a plurality of times, and calculating an included angle formed by an extension line of an intersection line of a plane formed by the three points collected each time and a plane where the base plate is located and a connecting line of a position hole (3) corresponding to the anterior superior iliac spine as a measuring abduction angle;
s4, the actual abduction angle measured in the step S2 and the measured abduction angle measured in the step S3 are put into the following formula to calculate the angle error of the hip joint surgery navigation system:
Figure FDA0003727029670000022
wherein:
n is the number of measurements;
α 0 、β 0 、γ 0 -are the actual abduction angles of different positions on the base (1);
α i 、β i 、γ i -the i-th measurement abduction angles are all measured at different positions of the measurement plate (2).
9. The positioning error measurement method according to claim 5, characterized in that: the position holes (3) are formed in the transverse edge direction and the longitudinal edge direction of the base (1) at intervals, and the connecting holes (4) are located between the position holes (3) formed in the transverse edge direction and the longitudinal edge direction.
10. A positioning error measurement method according to claim 9, characterized in that: the measuring plate (2) comprises two vertically arranged inserting columns (21) and a disc (22) vertically fixed at the tops of the inserting columns (21), and the inserting columns (21) are used for being inserted into the connecting holes (4) to be connected with the base (1);
wherein the position hole (3) is marked by a marking module (4) in the hip joint surgery navigation system to measure position information.
CN202210770231.5A 2022-07-01 2022-07-01 Positioning error measuring device and method Pending CN115005988A (en)

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Application Number Priority Date Filing Date Title
CN202210770231.5A CN115005988A (en) 2022-07-01 2022-07-01 Positioning error measuring device and method

Publications (1)

Publication Number Publication Date
CN115005988A true CN115005988A (en) 2022-09-06

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