CN118078567A - Hip-knee joint replacement system with intelligent navigation assistance - Google Patents

Hip-knee joint replacement system with intelligent navigation assistance Download PDF

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Publication number
CN118078567A
CN118078567A CN202410495302.4A CN202410495302A CN118078567A CN 118078567 A CN118078567 A CN 118078567A CN 202410495302 A CN202410495302 A CN 202410495302A CN 118078567 A CN118078567 A CN 118078567A
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China
Prior art keywords
posture
module
hip
adjustment
knee
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Granted
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CN118078567B (en
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郭东鸿
刘晓婷
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Southern Hospital Southern Medical University
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Southern Hospital Southern Medical University
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/02—Adjustable operating tables; Controls therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/10—Parts, details or accessories
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/10—Parts, details or accessories
    • A61G13/107—Supply appliances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/10—Parts, details or accessories
    • A61G13/12—Rests specially adapted therefor; Arrangements of patient-supporting surfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/10—Parts, details or accessories
    • A61G13/12—Rests specially adapted therefor; Arrangements of patient-supporting surfaces
    • A61G13/1205—Rests specially adapted therefor; Arrangements of patient-supporting surfaces for specific parts of the body
    • A61G13/123—Lower body, e.g. pelvis, hip, buttocks
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/10—Parts, details or accessories
    • A61G13/12—Rests specially adapted therefor; Arrangements of patient-supporting surfaces
    • A61G13/1205—Rests specially adapted therefor; Arrangements of patient-supporting surfaces for specific parts of the body
    • A61G13/1245—Knees, upper or lower legs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G13/00—Operating tables; Auxiliary appliances therefor
    • A61G13/10—Parts, details or accessories
    • A61G13/12—Rests specially adapted therefor; Arrangements of patient-supporting surfaces
    • A61G13/126—Rests specially adapted therefor; Arrangements of patient-supporting surfaces with specific supporting surface
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2210/00—Devices for specific treatment or diagnosis
    • A61G2210/10—Devices for specific treatment or diagnosis for orthopedics

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

The invention relates to the technical field of medical equipment, and provides an intelligent navigation assisted hip-knee joint replacement system which comprises a server, an operating table, a gesture adjusting module, a gesture monitoring module, a gesture analyzing module, an assisted decision module and an interaction module. The invention ensures that the system has the advantages of strong gesture adjustment capability, high gesture feedback sensitivity, high flexibility and strong gesture management capability through the mutual coordination between the gesture analysis module and the gesture monitoring module.

Description

Hip-knee joint replacement system with intelligent navigation assistance
Technical Field
The invention relates to the technical field of medical equipment, in particular to an intelligent navigation assisted hip-knee joint replacement system.
Background
Hip arthroplasty is a clinically commonly performed procedure in which the lower extremities are usually placed in a lateral position and maintained at a reasonable angle to clearly expose the acetabulum and reduce intraoperative disturbance. Because the patient is difficult to maintain a fixed posture for a long time in the operation process, a plurality of doctors are often needed to assist in correcting the posture in the operation, and the workload is high, the operation can be clinically carried out by means of a plurality of auxiliary posture racks, and the workload of the doctors is reduced.
The body position frame for hip joint replacement and the manufacturing method thereof are disclosed in Chinese patent CN112972177B, although the customized body position frame with a bionic structure and flexible touch feeling is prefabricated before operation according to the standard body position information of an individual patient, a doctor can thoroughly get rid of huge workload in a preparation stage before operation and operation, discomfort of the patient is eliminated through the bionic structure and the flexible touch feeling, and the body position frame can be used in operation and can be used for maintaining the posture in a rehabilitation period after operation. However, the technical solutions disclosed in the above patents are still too complex and cannot be applied to the short-term or urgent-needed situations of the operation, resulting in the defect of operation time lag.
At the same time, hip-knee replacement surgery requires extremely high precision to ensure proper placement and angulation of the implant, which is critical to the long-term success of the surgery and functional recovery of the patient. However, conventional surgery relies on experience and visual judgment of the physician, which may lead to minor deviations in implant position, thereby affecting the surgical outcome.
In addition, the posture of the patient during the surgical procedure is critical to the exposure of the surgical field and the proper placement of the implant. Improper posture can lead to difficult surgical procedures, increased surgical time and risk of complications. Current methods have limitations in monitoring and adjusting patient posture in real time.
Wherein during surgery, a physician needs to make quick and accurate decisions, especially when accidents are encountered. However, lack of real-time feedback mechanisms and decision support tools may lead to inefficient decisions and even errors. At the same time, existing aids often lack sufficient consideration of individual patient variability and adaptability to dynamic changes that may occur during surgery.
The invention is made to solve the problems of poor accurate management capability, weak gesture adjustment capability, lack of real-time feedback of gestures, poor flexibility, low intelligent degree, lack of interaction and the like which are commonly existed in the field.
Disclosure of Invention
The invention aims to provide an intelligent navigation assisted hip-knee joint replacement system aiming at the defects existing at present.
In order to overcome the defects in the prior art, the invention adopts the following technical scheme:
The intelligent navigation assisted hip-knee joint replacement system comprises a server and an operating table, wherein the intelligent navigation assisted hip-knee joint replacement system further comprises a posture adjustment module, a posture monitoring module, a posture analysis module, an auxiliary decision module and an interaction module, and the server is in communication connection with the posture adjustment module, the posture monitoring module, the posture analysis module, the auxiliary decision module and the interaction module respectively;
The posture adjustment module is used for performing posture adjustment on the posture of the patient, the posture monitoring module is used for collecting posture data of the legs of the patient, the posture analysis module is used for analyzing the legs of the patient according to the posture data collected by the posture monitoring module to form an analysis result, the auxiliary decision module is used for making a decision on the posture of the posture adjustment module according to the analysis result so as to dynamically adjust the posture of the patient, and the interaction module is used for interacting the analysis result of the posture analysis module and the decision data of the auxiliary decision module with medical staff;
the posture adjustment module comprises a posture adjustment unit and a limiting unit, wherein the posture adjustment unit is symmetrically arranged at two sides of the hip and the knee of the patient and adjusts the postures of the hip and the knee of the patient, and the limiting unit limits the positions of the posture adjustment unit;
the limiting unit is detachably clamped with the upper end face of the operating table according to the body position of the patient.
Optionally, the limiting unit comprises a magnetic component and a limiting component, the magnetic component is arranged on the limiting component and is detachably connected with the upper end surface of the operating table, and the limiting component supports the posture adjusting unit;
The limiting member comprises a limiting seat and a placing cavity, the limiting seat is used for supporting the posture adjusting unit, and the placing cavity is arranged on the upper end face of the limiting seat and inwards sinks towards the body of the limiting seat;
wherein the posture adjustment unit is disposed in the placement cavity.
Optionally, the posture monitoring module comprises a supporting plate and at least one pressure sensor, wherein the at least one pressure sensor is arranged on the supporting plate to form a monitoring part, and the monitoring part is symmetrically arranged on the contact end surfaces of the posture adjusting unit and the hip and knee of the patient.
Optionally, the gesture analysis module obtains gesture data acquired by the gesture monitoring module, and calculates the Balance index Balance according to the following formula:
；
Wherein P 1 is the pressure value on the left side of the hip or knee, P 2 is the pressure value on the right side of the hip or knee, and P total is the total pressure value of the hip or knee;
and if the Balance index Balance exceeds a Balance threshold G set by a system, triggering the posture adjustment module to adjust the posture of the patient.
Optionally, the auxiliary decision module includes a decision unit and a decision evaluation unit, the decision evaluation unit obtains the Balance index Balance and a Balance threshold value G set by the system, and evaluates posture adjustment, and the decision unit transmits an evaluation result of the decision evaluation unit to the posture adjustment unit so as to trigger the posture adjustment unit to adjust the postures of the hip and the knee.
Optionally, the posture adjustment unit comprises an adjustment air bag, an inflator pump, an electronic air release valve and an inflation pipeline, wherein the electronic air release valve is arranged on the adjustment air bag, the inflator pump is connected with the adjustment air bag through the inflation pipeline to form an adjustment part, and the adjustment air bag is inflated and inflated to adjust the hip and the knee of the patient;
Wherein the adjustment portions are symmetrically disposed on both sides of the hip and knee.
Optionally, the interaction module includes an interaction display and a communication unit, wherein the interaction display is used for being checked by medical staff, the communication unit is respectively in communication connection with the auxiliary decision module and the gesture analysis module, and transmits decision data and analysis results to the interaction display so as to display on the interaction display.
Optionally, the posture adjustment unit further includes a position adjustment member that adjusts a pitch of the two symmetrically disposed adjustment portions.
The beneficial effects obtained by the invention are as follows:
1. through the mutual coordination between the gesture analysis module and the gesture monitoring module, the states of the hip and the knee of the patient can be evaluated, and the whole system is guaranteed to have the advantages of strong gesture adjustment capability, high gesture feedback sensitivity, high flexibility and strong gesture management capability;
2. Through the mutual coordination of the posture adjustment module and the auxiliary decision module, the postures of the hip and the knee of the patient can be adjusted, the accuracy and the reliability of the hip and knee replacement process are improved, and the whole system has the advantages of high control accuracy, strong posture adjustment capability, good real-time feedback effect and high intelligent degree;
3. through mutual cooperation among the interactive module, auxiliary decision-making module and gesture analysis module for medical personnel obtains best interactive experience, promotes that entire system has interactive ability strong, intelligent degree is high, real-time feedback is accurate advantage.
4. Through adjusting knee and hip angle to expose the operation observation scope of knee hip joint replacement process, guarantee that the replacement process is more smooth, also promoted navigation assistance's efficiency, make whole system have intelligent degree high, flexibility good and gesture management ability's advantage.
Drawings
The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate like parts in the different views.
Fig. 1 is a schematic block diagram of the overall structure of the present invention.
Fig. 2 is a block schematic diagram of the spacing unit and posture adjustment unit, patient's hip and knee of the present invention.
FIG. 3 is a schematic diagram of an analysis flow of the gesture analysis module of the present invention.
Fig. 4 is a schematic view of the operating table and the patient of the present invention in the application of knee joint replacement.
Fig. 5 is an enlarged schematic view at a in fig. 4.
Fig. 6 is a schematic structural view of a limiting seat for limiting a knee part according to the present invention.
Fig. 7 is a schematic top view of the posture adjustment module performing posture adjustment when the knee joint replacement is performed by the patient.
Fig. 8 is a schematic top view of the posture adjustment module performing posture adjustment when the patient performs hip joint replacement.
Fig. 9 is a schematic view of a scenario in which the posture adjustment module performs posture adjustment when the patient performs hip joint replacement.
Fig. 10 is a schematic structural view of a limiting seat for limiting a hip according to the present invention.
FIG. 11 is a schematic view of the spacing adjustment member, adjustment bladder, inflator, and electronic bleed valve of the present invention.
Fig. 12 is a schematic view of the structure of the adjusting air bag, the monitoring portion and the touch sensing portion of the present invention.
Reference numerals illustrate: 1. an operating table; 2. a patient; 3. a first adjusting seat; 4. a limit seat; 5. adjusting the air bag; 6. a magnetic suction seat; 7. a magnetic attraction piece; 8. a receiving chamber; 9. an electronic air release valve; 10. an adjusting lever; 11. adjusting the track; 12. an inflator pump; 13. a placement unit; 14. a spacing cavity; 15. a monitoring section; 16. a touch sensing part; 17. and a second adjusting seat.
Detailed Description
The following embodiments of the present invention are described in terms of specific examples, and those skilled in the art will appreciate the advantages and effects of the present invention from the disclosure herein. The invention is capable of other and different embodiments and its several details are capable of modification and variation in various respects, all without departing from the spirit of the present invention. The drawings of the present invention are merely schematic illustrations, and are not intended to be drawn to actual dimensions. The following embodiments will further illustrate the related art content of the present invention in detail, but the disclosure is not intended to limit the scope of the present invention.
Embodiment one: according to the fig. 1,2, 3, 4, 5, 6, 7, 8, 9, 10, 11 and 12, the present embodiment provides an intelligent navigation-assisted hip-knee joint replacement system, which includes a server, and an operation table, where the intelligent navigation-assisted hip-knee joint replacement system further includes a posture adjustment module, a posture monitoring module, a posture analysis module, an assistance decision module, and an interaction module, and the server is connected to the posture adjustment module, the posture monitoring module, the posture analysis module, the assistance decision module, and the interaction module, and stores intermediate data and process data of the posture adjustment module, the posture monitoring module, the posture analysis module, the assistance decision module, and the interaction module in a database of the server for querying or calling.
The posture adjustment module is used for performing posture adjustment on the posture of the patient 2, the posture monitoring module is used for collecting posture data of the legs of the patient 2, the posture analysis module is used for analyzing the legs of the patient 2 according to the posture data collected by the posture monitoring module to form an analysis result, the auxiliary decision module is used for making a decision on the posture of the posture adjustment module according to the analysis result so as to dynamically adjust the posture of the patient 2, and the interaction module is used for interacting the analysis result of the posture analysis module and the decision data of the auxiliary decision module with medical staff; the intelligent navigation assisted hip-knee joint replacement system further comprises a central processor, wherein the central processor is respectively in control connection with the gesture monitoring module, the gesture analysis module, the auxiliary decision module and the interaction module, is used for carrying out centralized control on the gesture monitoring module, the gesture analysis module, the auxiliary decision module and the interaction module based on the central processor, and stores control data in a database of the server so as to improve the processing efficiency and the processing capacity of the whole system.
The posture adjustment module comprises a posture adjustment unit and a limiting unit, wherein the posture adjustment unit is symmetrically arranged on two sides of the hip and the knee of the patient 2 and adjusts the hip and the knee of the patient 2, and the limiting unit limits the position of the posture adjustment unit.
The limiting unit is detachably clamped with the upper end face of the operating table according to the body position of the patient 2.
Optionally, the limiting unit comprises a magnetic component and a limiting component, the magnetic component is arranged on the limiting component and detachably connected with the upper end face of the operating table, and the limiting component supports the posture adjusting unit.
The limiting member comprises a limiting seat 4 and a placing cavity, wherein the limiting seat 4 is used for supporting the posture adjusting unit, and the placing cavity is arranged on the upper end face of the limiting seat 4 and inwards sunken towards the body of the limiting seat 4.
Wherein the posture adjustment unit is disposed in the placement cavity.
In this embodiment, the limiting seat 4 includes a hip limiting seat that limits the hip and a knee limiting seat for limiting the knee, and the hip limiting seat and the knee limiting seat are different in structure.
As shown in fig. 6, the knee-limiting seat is of an integrally formed plate-like structure, and a placement cavity is provided in the plate-like structure, and the placement cavity is provided for placement of the posture adjustment unit.
As shown in fig. 10, the hip limiting seat has a U-shaped structure, and the hip limiting seat provided with the U-shaped structure includes a limiting cavity 14 for placing thighs of the patient 2 when lying on his side, and a placing portion 13, the placing cavity being provided in the placing portion 13.
In this embodiment, the appropriate stop 4 is selected for different joint replacement positions to enable adjustment of the posture of the hip and knee of the patient 2.
The magnetic component comprises a magnetic seat 6, a magnetic piece 7 and a containing cavity 8, wherein the magnetic seat 6 is arranged on the lower end face of the limit seat 4 and detachably connected with the lower end face of the limit seat 4, the containing cavity 8 is arranged at the joint of the magnetic seat 6 relative to the iron frame of the operating table and faces to the iron frame, the magnetic piece 7 is arranged in the containing cavity 8 and provides adsorption force so as to realize that the limit component is detachably limited on the operating table.
Optionally, the posture adjustment unit includes an adjustment airbag 5, an inflator 12, an electronic air release valve 9, and an inflation pipeline, the electronic air release valve 9 is disposed on the adjustment airbag 5, the inflator 12 is connected with the adjustment airbag 5 through the inflation pipeline to form an adjustment portion, and the adjustment airbag 5 inflates and expands to adjust the hip and knee of the patient 2.
Wherein the adjustment part is symmetrically arranged at two sides of the hip part and the knee part;
optionally, the posture adjustment unit further includes a position adjustment member that adjusts a distance between two of the adjustment portions that are symmetrically disposed.
The position adjusting component adjusts the distance between the two symmetrically arranged adjusting parts so as to adapt to different hip and knee sizes, and therefore accurate control of the hip and knee postures is guaranteed.
The position adjusting member comprises a first adjusting seat 3, a second adjusting seat 17, an adjusting track 11, an adjusting rod 10, an adjusting driving mechanism and an extension detecting piece, wherein the adjusting track 11 is arranged in the placing cavity, the first adjusting seat 3 and the second adjusting seat 17 are respectively connected with the adjusting track 11 in a sliding mode, two ends of the adjusting rod 10 are respectively connected with the first adjusting seat 3 and the second adjusting seat 17, extension action is carried out under the driving of the adjusting driving mechanism, and the extension detecting piece detects the extension amount of the adjusting rod 10 to obtain the distance between the first adjusting seat 3 and the second adjusting seat 17.
The adjusting rod 10 is a double-ended telescopic rod, and the adjusting rod 10 is driven by the adjusting driving mechanism to perform telescopic motion.
Wherein the adjusting seats are respectively arranged on the first adjusting seat 3 and the second adjusting seat 17; meanwhile, the first and second adjustment seats 3 and 17 are symmetrically disposed at both sides of the hip or knee of the patient 2, thereby achieving adjustment of the posture of the hip and knee of the patient 2.
Optionally, the posture monitoring module comprises a support plate and at least one pressure sensor, wherein the at least one pressure sensor is arranged on the support plate to form a monitoring part 15, and the monitoring part 15 is symmetrically arranged on the contact end surfaces of the posture adjustment unit and the hip and knee of the patient 2.
As shown in fig. 12, the monitor 15 is provided on the adjustment airbag 5.
Optionally, the gesture analysis module obtains gesture data acquired by the gesture monitoring module, and calculates the Balance index Balance according to the following formula:
；
Where P 1 is the pressure value on the left side of the hip or knee, P 2 is the pressure value on the right side of the hip or knee, and P total is the total pressure value of the hip or knee, which is equal to the sum of P 1 and P 2.
In this embodiment, at least one pressure sensor is divided into two groups of sensors, and the two groups of sensors detect the pressure value P 1 on the left side of the hip or knee and the pressure value P 2 on the right side of the hip or knee, respectively, so as to obtain the pressure values on the left and right sides of the hip or knee.
And if the Balance index Balance exceeds a Balance threshold G set by a system, triggering the posture adjustment module to adjust the posture of the patient.
And if the Balance index Balance is lower than a Balance threshold G set by the system, indicating that the posture Balance state of the patient meets the requirement of the system.
The balance threshold G set by the system is set by the system or the manager according to the actual situation, which is a technical means well known to those skilled in the art, and those skilled in the art can query the related technical manual to obtain the technology, so that the description is omitted in this embodiment.
In this embodiment, through the cooperation between the posture analysis module and the posture monitoring module, the states of the hip and the knee of the patient can be evaluated, so that the whole system is guaranteed to have the advantages of strong posture adjustment capability, high posture feedback sensitivity, high flexibility and strong posture management capability.
Optionally, the auxiliary decision module includes a decision unit and a decision evaluation unit, the decision evaluation unit obtains the Balance index Balance and a Balance threshold value G set by the system, and evaluates posture adjustment, and the decision unit transmits an evaluation result of the decision evaluation unit to the posture adjustment unit so as to trigger the posture adjustment unit to adjust the postures of the hip and the knee.
The decision evaluation unit acquires an equalization index Balance and determines an Adjustment angle Adjustment according to the following formula:
；
where τ is a position coefficient, τ= -1 when the left adjustment portion is adjusted, τ=1 when the right adjustment portion is adjusted, balanceDiff is a balance difference index, the value of which is equal to P 1-P2, and K is a sensitivity coefficient, and the value of which is calculated according to the following equation:
；
Wherein DesiredAdjustmentRange is the maximum adjustment displacement expected, the value is the maximum adjustment amplitude that can be achieved by the system, and Δ is the maximum equilibrium difference value, the values of which satisfy: Δ= max (|balance-g|), i.e. the maximum difference between the equalization index obtained in the unit monitoring time of the gesture monitoring module and the equalization threshold.
If BalanceDiff >0 (indicating that the left side pressure is greater than the right side pressure), indicating that the supporting force on the right side needs to be increased, and the supporting force on the left side needs to be reduced, controlling the adjusting air bags on the corresponding sides according to the adjusting angle values, so that the postures of the hip and the knee are adjusted.
If BalanceDiff <0 (indicating that the right side pressure is greater than the left side pressure), indicating that the supporting force on the left side needs to be increased, and the supporting force on the right side needs to be reduced, controlling the adjusting air bags on the corresponding sides according to the adjusting angle values, so as to adjust the postures of the hip and the knee.
In the present embodiment, the posture adjustment angle for the knee or hip is shown as an angle between two broken lines in fig. 11, and the angle of the angle is merely an example.
After the Adjustment angle Adjustment is determined, the Adjustment angle Adjustment is transmitted to the posture Adjustment unit, and the inflator pump is triggered to inflate/deflate the Adjustment air bag, so that Adjustment of the hip and the knee of the patient is achieved, and accurate control of the operation posture is guaranteed.
In this embodiment, through the cooperation of the posture adjustment module and the auxiliary decision module, the postures of the hip and the knee of the patient can be adjusted, so that the accuracy and the reliability of the hip-knee replacement process are improved, and the whole system has the advantages of high control accuracy, strong posture adjustment capability, good real-time feedback effect and high intelligence degree.
Optionally, the interaction module includes an interaction display and a communication unit, wherein the interaction display is used for being checked by medical staff, the communication unit is respectively in communication connection with the auxiliary decision module and the gesture analysis module, and transmits decision data and analysis results to the interaction display so as to display on the interaction display.
The communication unit adopts a wired or wireless communication mode, and transmits the data of the auxiliary decision making module and the gesture analysis module to the interactive display screen for display so as to be checked by the medical staff.
In this embodiment, through interaction module, auxiliary decision-making module with interaction between the gesture analysis module for medical personnel obtains best interactive experience, promotes that entire system has that interactive ability is strong, intelligent degree is high, real-time feedback is accurate advantage.
Embodiment two: this embodiment should be understood to include all the features of any one of the previous embodiments and be further modified on the basis thereof, according to the figures 1,2,3,4, 5, 6, 7, 8, 9, 10, 11 and 12, and further characterized in that the posture adjustment unit further includes a pitch sensing subunit provided on the adjustment airbag 5 and collecting contact data of the hip and knee of the patient 2, and a pitch analyzing subunit analyzing the knee and hip contact state according to the contact data collected by the pitch sensing subunit to form an analysis result and triggering the pitch adjustment member to adjust the pitch of the adjustment portion and the hip and knee according to the analysis result.
When the pitch adjustment member adjusts the position of the adjustment portion, the adjustment airbag 5 is in an unactuated state (an uninflated state, which is set as a default state in this embodiment).
As shown in fig. 12, the interval sensing subunit includes a pressure sensing strip, and at least one strain gauge disposed on the pressure sensing strip to form a contact sensing portion 16, the contact sensing portion 16 being disposed on a contact end surface of the adjustment airbag 5 with the hip and knee of the patient 2 to collect contact pressures of the hip and knee.
The interval analysis subunit obtains the contact pressure value of the interval sensing subunit, and calculates a contact state index Touch according to the following formula:
；
Where P i is the contact pressure value acquired by the ith contact sensing part, P threshold is a contact pressure threshold preset by the system, and represents the pressure value in the ideal contact state, and N is the total number of contact sensing parts.
The method comprises the steps of setting a preset contact pressure threshold corresponding to the hip and a preset contact pressure threshold corresponding to the knee independently, and selecting the corresponding contact pressure threshold in different replacement scenes; the contact state indexes Touch for the hip and knee are thus calculated separately.
And if the contact state index Touch is not in the qualified Range set by the system, triggering the interval adjusting component to adjust the position of the part.
If the contact state index Touch is within a set acceptable Range of the system, the adjustment portion is indicated to be in an acceptable position with the hip or knee of the patient.
The qualified Range set by the system is set by the system or the manager according to the actual situation, which is a technical means well known to those skilled in the art, and those skilled in the art can query the related technical manual to obtain the technology, so that the description is omitted in this embodiment.
In this embodiment, through interval adjustment component, interval response subunit and interval analysis subunit mutually support for the position of adjustment portion can accurate control, has promoted patient's travelling comfort, guarantees that entire system has travelling comfort height, intelligent degree height, flexibility is good, the advantage that real-time feedback ability is strong.
The foregoing disclosure is only a preferred embodiment of the present invention and is not intended to limit the scope of the invention, so that all equivalent technical changes made by applying the description of the present invention and the accompanying drawings are included in the scope of the present invention, and in addition, elements in the present invention can be updated as the technology develops.

Claims (8)

1. The intelligent navigation assisted hip-knee joint replacement system comprises a server and an operating table, and is characterized by further comprising a posture adjustment module, a posture monitoring module, a posture analysis module, an assisted decision module and an interaction module, wherein the server is in communication connection with the posture adjustment module, the posture monitoring module, the posture analysis module, the assisted decision module and the interaction module respectively;
The posture adjustment module is used for performing posture adjustment on the posture of the patient, the posture monitoring module is used for collecting posture data of the legs of the patient, the posture analysis module is used for analyzing the legs of the patient according to the posture data collected by the posture monitoring module to form an analysis result, the auxiliary decision module is used for making a decision on the posture of the posture adjustment module according to the analysis result so as to dynamically adjust the posture of the patient, and the interaction module is used for interacting the analysis result of the posture analysis module and the decision data of the auxiliary decision module with medical staff;
The posture adjustment module comprises a posture adjustment unit and a limiting unit, wherein the posture adjustment unit is symmetrically arranged at two sides of the hip and the knee of a patient and is used for adjusting the posture of the patient, and the limiting unit is used for limiting the position of the posture adjustment unit;
the limiting unit is detachably clamped with the upper end face of the operating table according to the body position of the patient.
2. The intelligent navigation-assisted hip-knee replacement system according to claim 1, wherein the limiting unit comprises a magnetic attraction member and a limiting member, the magnetic attraction member is arranged on the limiting member and detachably connected with the upper end surface of the operating table, and the limiting member supports the posture adjustment unit;
The limiting member comprises a limiting seat and a placing cavity, the limiting seat is used for supporting the posture adjusting unit, and the placing cavity is arranged on the upper end face of the limiting seat and inwards sinks towards the body of the limiting seat;
wherein the posture adjustment unit is disposed in the placement cavity.
3. The intelligent navigation assisted hip and knee replacement system of claim 2 wherein the posture monitoring module comprises a support plate, at least one pressure sensor disposed on the support plate forming a monitor symmetrically disposed on the contact end face of the posture adjustment unit with the patient's hip and knee.
4. The intelligent navigation assisted hip and knee replacement system of claim 3 wherein the gesture analysis module obtains gesture data collected by the gesture monitoring module and calculates an equalization index Balance according to the formula:
；
wherein P 1 is the pressure value on the left side of the hip or knee, P 2 is the pressure value on the right side of the hip or knee, and P total is the total pressure value of the hip or knee;
and if the Balance index Balance exceeds a Balance threshold G set by a system, triggering the posture adjustment module to adjust the posture of the patient.
5. The intelligent navigation assisted hip and knee replacement system of claim 4 wherein the assistance decision making module comprises a decision making unit that obtains the Balance index Balance and a system set Balance threshold G and evaluates posture adjustment, a decision making unit that transmits the evaluation result of the decision making unit to the posture adjustment unit to trigger the posture adjustment unit to adjust the posture of the hip and knee.
6. The intelligent navigation assisted hip-knee replacement system of claim 5 wherein the posture adjustment unit comprises an adjustment balloon, an inflator, an electronic release valve and an inflation conduit, the electronic release valve being disposed on the adjustment balloon, the inflator being connected to the adjustment balloon through the inflation conduit to form an adjustment section, the adjustment balloon inflating out to adjust the patient's hip and knee;
Wherein the adjustment portions are symmetrically disposed on both sides of the hip and knee.
7. The intelligent navigation assisted hip and knee replacement system of claim 6 wherein the interactive module comprises an interactive display for viewing by a healthcare worker, a communication unit in communication with the assisted decision module and the gesture analysis module, respectively, and transmitting decision data and analysis results to the interactive display for display on the interactive display.
8. The intelligent navigation assist hip-knee replacement system of claim 7, wherein the posture adjustment unit further comprises a position adjustment member that adjusts a pitch of two of the adjustment portions that are symmetrically disposed.
CN202410495302.4A 2024-04-24 2024-04-24 Hip-knee joint replacement system with intelligent navigation assistance Active CN118078567B (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6234173B1 (en) * 1999-09-28 2001-05-22 Mohammed Ali Hajianpour Foot restraint apparatus for holding a leg in place during knee surgery
JP2005342229A (en) * 2004-06-03 2005-12-15 Nippon Medical School Lower limb fixing device
KR20060003685A (en) * 2004-07-07 2006-01-11 한국과학기술원 An acetabular cup orientator in a total hip replacement
US20200261297A1 (en) * 2019-02-14 2020-08-20 Stryker Australia Pty Ltd Systems and methods for assisting surgery
CN115023006A (en) * 2022-06-02 2022-09-06 丁昭宁 Special arm lamp control system of gynaecology and obstetrician

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6234173B1 (en) * 1999-09-28 2001-05-22 Mohammed Ali Hajianpour Foot restraint apparatus for holding a leg in place during knee surgery
JP2005342229A (en) * 2004-06-03 2005-12-15 Nippon Medical School Lower limb fixing device
KR20060003685A (en) * 2004-07-07 2006-01-11 한국과학기술원 An acetabular cup orientator in a total hip replacement
US20200261297A1 (en) * 2019-02-14 2020-08-20 Stryker Australia Pty Ltd Systems and methods for assisting surgery
CN115023006A (en) * 2022-06-02 2022-09-06 丁昭宁 Special arm lamp control system of gynaecology and obstetrician

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