CN207745199U - Attitude data measuring device and the system using the device in replacement of total hip - Google Patents
Attitude data measuring device and the system using the device in replacement of total hip Download PDFInfo
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- CN207745199U CN207745199U CN201720368632.2U CN201720368632U CN207745199U CN 207745199 U CN207745199 U CN 207745199U CN 201720368632 U CN201720368632 U CN 201720368632U CN 207745199 U CN207745199 U CN 207745199U
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Abstract
The utility model is that attitude data measuring device and the system using the device, measuring device include in a kind of replacement of total hip：Pelvis initial attitude measuring device, pelvis dynamic measurement device and prosthese setting angle measuring device, wherein it is respectively provided with motion sensor, system includes the attitude data measuring device, data processing module, data transmission module and extracorporeal treatment module, measuring device can be when hip replacement carries out, measurement obtains posture primary data information (pdi), system can accurately obtain the angle information of real-time pelvis posture information and acetabular component relative to pelvis according to attitude data, make doctor that can accurately place acetabular component relatively in the course of surgery, and then greatly improve the success rate and operative effect of hip replacement.
Description
Technical field
The utility model belongs to medical electronic technical field, more particularly to attitude data is surveyed in a kind of replacement of total hip
Measure device and the system using the device.
Background technology
With the continuous development of the growth and aging of population trend of the size of population, prosthetic replacement performs the operation increasingly
It is more.By taking hip replacement as an example, be primarily adapted for use in Osteoarthritis, aseptic necrosis of bone (such as caput femoris necrosis), certain
It is a little Hip Fractures (such as fracture of neck of femur), rheumatoid arthritis, traumatic arthritis, benign and malignant bone tumour, tatanic
Rachitis etc., is widely used.
To be cut off in total hip replacement necrosis acetabular cup and femoral head, manually prosthese come replace these necrosis portion
Point.An importance is ensured that manual acetabulum prosthese being properly aligned with for pelvis in replacement process.Studies have shown that such as
Fruit acetabular component or graft, which are not appropriately aligned pelvis, will cause premature abrasion, tendency dislocation and patient uncomfortable.So
And in artificial full hip-joint replacement of today operation, the greatest problem that surgeon faces now is how to determine the appearance of pelvis
The alignment of state and acetabular component relative to pelvis.
To be reference with pelvis when acetabular component is implanted into, as the axis of acetabular cup will be in pelvis in total hip replacement
Certain angle, two angles of most important one are top rake and angle of splay.On anatomical definition, for most of diseases
People, acetabular component are relative to the setting angle safe range of pelvis：5 ° -25 ° of top rake, 30 ° -50 ° of angle of splay, in full hip
In joint replacement surgery, surgeon will be according to the two suitably accurate angles of the concrete condition of patient.However, performing the operation now
In, the posture of pelvis is difficult to determine, and patient is covered by aseptic operation list, essence of the acetabular component relative to the setting angle of pelvis
It really measures and is difficult to realize, it, can be to acetabular component only with surgical experience, such as during surgery with operating table plane to refer to
Setting angle determination bring bigger error.
Invention content
In order to overcome the disadvantages of the above prior art, the purpose of this utility model is to provide a kind of replacement of total hip
Middle attitude data measuring device and the system for utilizing the device, measuring device can be when hip replacement carries out, and measurement obtains
Posture primary data information (pdi), system can be accurately obtained according to attitude data real-time pelvis posture information and acetabular component relative to
The angle information of pelvis makes doctor that can accurately place acetabular component relatively in the course of surgery, and then greatly improves hip joint
The success rate and operative effect of displacement technique.
To achieve the goals above, the technical solution adopted in the utility model is：
Attitude data measuring device in a kind of replacement of total hip, including：
Pelvis initial attitude measuring device, including rotary shaft 31, the one of three stretchable arms 33 with graduation mark 32
End is mounted in rotary shaft 31, and the other end of two of which is provided with fixed feet 34, and another other end is provided with movement and passes
Sensor module 1；
The tail end of pelvis dynamic measurement device, including fixed pin 22, fixed pin 22 is provided with motion sensor module 2 21；
Prosthese setting angle measuring device includes the motion sensor module 3 12 on acetabular component 11.
The structure of the motion sensor module 1, motion sensor module 2 21 and motion sensor module 3 12
It is identical, include three axis accelerometer, three-axis gyroscope and three axle magnetometer.
The utility model additionally provides the system using attitude data measuring device in the replacement of total hip, packet
It includes：
The attitude data measuring device；
Data processing module is set in attitude data measuring device, for by the data of acquisition, there are buffering areas；
Data transmission module is set in attitude data measuring device, for being sent to the data in buffering area in vitro
Receiver；
Extracorporeal treatment module for handling the data that data transmission module is sent, and then resolves and obtains required appearance
State and angle information.
The data processing module is realized that the data transmission module uses WIFI/ bluetooths by sensor number by a MCU
According to being transmitted, the extracorporeal treatment module includes the computer or tablet resolved for pelvis posture and prosthese setting angle
Computer.
The use of the utility model will be that doctor's progress total hip arthroplasty brings great convenience, and then improves
Success rate of operation and therapeutic effect.
Description of the drawings
Fig. 1 is prosthese setting angle measuring device structural schematic diagram in the utility model measuring device.
Fig. 2 is the utility model measuring device midpelvis real-time attitude measuring device structural schematic diagram.
Fig. 3 is the utility model measuring device midpelvis initial attitude measuring device structural schematic diagram.
The positions Fig. 4 pelvic structures and prosthese setting angle schematic diagram.
Fig. 5 is the hardware capability block diagram of Tthe utility model system.
Fig. 6 is the utility model attitude algorithm flow chart.
Fig. 7 is that Tthe utility model system midpelvis posture and prosthese setting angle resolve flow chart.
Specific implementation mode
The embodiment of the utility model is described in detail with reference to the accompanying drawings and examples.
The utility model provides in a kind of replacement of total hip attitude data measuring device and using the device
System, can measure pelvis posture and prosthese setting angle in real time when implementing total hip arthroplasty, be carried out to surgeon
Surgical procedure is brought convenience.
A kind of structure of the utility model measuring device is as shown in Figs. 1-3, and wherein Fig. 1 is that prosthese setting angle measures dress
It sets, Fig. 2 is pelvis real-time attitude measuring device, and Fig. 3 is pelvis initial attitude measuring device.It is solid on acetabular cup prosthesis 11 in Fig. 1
Surely there is sensor assembly 3 12, the elements 13 such as sensor and MCU for thering is it to use on sensor assembly 3 12, in Fig. 2, fixed pin
22 will be fixed on pelvis during surgery, and tail end has sensor assembly 2 21.In Fig. 3, three bands are installed in rotary shaft 31
The tail end of the stretchable arm 33 of graduation mark 32, two arms 33 is fixed feet 34, and the tail end of another arm 33 is sensor assembly
One 35, rotary shaft 31 and fixed feet 34 are used for device being fixed on pelvis frontal plane, and graduation mark 32 is used for characterizing stretching arm 33
Length.
It is presented below for convenience, simply introduces pelvic structures and prosthese setting angle now, see Fig. 4.It is special in figure
It is left side anterior superior spine and right side anterior superior spine to levy point A and B, and characteristic point C is pubic symphysis, and pelvis frontal plane is by these three point tables
Show.P is pelvis coordinate system in figure, and X-axis is vertical with pelvis frontal plane, and Y-axis is directed toward B by A, what Z axis vertical X axis and Y-axis formed
Plane.In Fig. 4 α be angle of splay, it be by acetabular bone cup axis a between the projection b and pelvis Y-axis of cross section (pelvis X/Y plane)
Angle, β are top rake, it is the angle between acetabular bone cup axis a and pelvis Z axis.
Doctor is using the operating process of the present embodiment in full marrow joint replacement surgery：
Step 1. doctor abrades the acetabular bone necrosis of patient, disease part；
Patient is placed in a certain comfortable position by step 2., and ensure its pelvis frontal plane can location set；
Dynamic measurement device II is fixed on the intact side of pelvis by step 3.；
The fixation rotary shaft 31 of measuring device III is placed in pubic symphysis by step 3. doctor, by adjusting the length of stretch rod
Degree, makes device length meet patient's pelvis measurement demand, and two fixed feets 34 are separately fixed on the anterior superior spine of left and right by guarantee；
Step 4. doctor opens computer and corresponding program, before the module 35 of pelvis initial measurement device is placed the sides A ilium
Upper spine passes through the posture D of record of keys measurement module at this time1, and then resolve and obtain the vector of axial C-AIt is put down with before pelvis
On face withVertical vectorIt is rotated to the anterior superior spine B of the other side around rotary shaft, equally records measurement module at this
Posture D2, it is similarly obtainedWithByWithIt can determine the normal vector of pelvis frontal plane, i.e., the X-axis of pelvis is in the state
When vector value under earth coordinatesPass throughWithThe state subpelvic Y-axis can be obtained under earth coordinates
Vector valuePelvis Z axis vector value under earth coordinates can be determined according to the coordinate system right-hand ruleAnd then it can calculate
Obtain the posture of the opposite earth coordinates of the state subpelvic, i.e. the initial attitude P of pelvis0(ωx,ωy,ωz)。
ωy=arcsin (- z ' (1)p)
In formula, z ' (1)pIt indicatesFirst value of vector, other similar, ωxBy ωx1And ωx2It is true according to angular range
It is fixed, similarly, ωzBy ωz1And ωz2It is determined according to angular range.
While step 5. carries out step 4, the posture of pelvis dynamic measurement device also obtains simultaneously, can be with by solution
Obtain the transition matrix between the device and pelvis initial attitude
In formula, angle2dcm indicates that Eulerian angles are converted into the transfer equation of spin matrix.
Patient is placed on the state for facilitating operation by step 6., and the real-time attitude of pelvis can be by fixed pelvis dynamic at this time
Measuring device posture DtAnd the posture transformational relation between the device and pelvisIt can obtain pelvis real-time attitude Pt。
Step 7. doctor places the acetabular cup prosthesis with sensor assembly, the prosthese axisIt can be by the posture of the module
Resolving obtains, and then can obtain angle of splay α and top rake β according to the definition of setting angle.
In formula,Indicate prosthese axisVector value under pelvis coordinate system,It indicatesThrowing on cross section
Shadow value,WithPelvis y-axis vector sum z-axis vector is indicated respectively.
Step 4 can be summarized as resolving flow chart shown in Fig. 7 to step 7.
Step 8. takes out the sensor assembly on acetabular cup, completes prosthese setting angle and measures.
The present embodiment hardware components principle is as shown in figure 5, be divided by function data acquisition module (sensor assembly), number
According to processing and data transmission module.Wherein, the utility model measuring device according to function be divided into attitude data acquisition module and
Data acquisition module, attitude data acquisition module are the mechanical framework part of measuring device, data acquisition module, data acquisition module
Block is set in attitude data acquisition module, includes the motion sensor for obtaining posture information, is part of data acquisition.
Illustrate the hardware components workflow below：
Step 1. battery is to each module for power supply；
Step 2. data processing module configures motion sensor by MCU；
The data that motion sensor acquires are stored in buffering area by step 3.；
After step 4. data acquisition, data are sent out with wireless (WIFI/ bluetooths) pattern；
After step 5. is sent completely, 3 are gone to step, circulating repetition.
The present embodiment calculating section mainly realizes in processor in vitro, computer as shown in Figure 5.Complete posture and angle
Degree resolves and display, workflow are as follows：
Step 1. computer receives the blended data that hardware transmits, and is split as acceleration information, geomagnetic data and angle
Speed data；
Step 2. resolves the posture of module in each measuring device, and attitude algorithm flow is shown in Fig. 6；
The data that step 3. is acquired according to device III carry out pelvis initial attitude measurement, and by obtain pelvis posture with
Transformational relation between device II obtains pelvis real-time attitude；
Step 4. is obtained according to sensor data calculation acetabular bone cup axis vector on acetabular cup, and according to the axis and step 4
Relationship between the pelvis real-time attitude arrived resolves prosthese setting angle；
Step 5. shows finally obtained posture and angle-data in order to the mode of intuitivism apprehension.
After the completion of above-mentioned work, doctor can ensure that manual acetabulum is mounted on suitable angle, and then complete hip joint
Replacement operation.
Claims (4)
1. attitude data measuring device in a kind of replacement of total hip, which is characterized in that including：
Pelvis initial attitude measuring device, including rotary shaft (31), three stretchable arms (33) with graduation mark (32)
One end is mounted in rotary shaft (31), and the other end of two of which is provided with fixed feet (34), and another other end is provided with
Motion sensor module one (35)；
Pelvis dynamic measurement device, including fixed pin (22), the tail end of fixed pin (22) are provided with motion sensor module two
(21)；
Prosthese setting angle measuring device, including the motion sensor module three (12) that is mounted on acetabular component (11).
2. attitude data measuring device in replacement of total hip according to claim 1, which is characterized in that the movement passes
Sensor module one (35), motion sensor module two (21) are identical with the structure of motion sensor module three (12), include three
Axis accelerometer, three-axis gyroscope and three axle magnetometer.
3. utilizing the system of attitude data measuring device in replacement of total hip described in claim 1, which is characterized in that packet
It includes：
The attitude data measuring device；
Data processing module is set in attitude data measuring device, for by the data of acquisition, there are buffering areas；
Data transmission module is set in attitude data measuring device, for the data in buffering area to be sent to external reception
Device；
Extracorporeal treatment module, for handling the data that data transmission module is sent, and then resolve obtain required posture and
Angle information.
4. system according to claim 3, which is characterized in that the data processing module realized by a MCU, the data
Sensing data is transmitted by transmission module using WIFI/ bluetooths, the extracorporeal treatment module, including be used for pelvis posture and
The computer or tablet computer that prosthese setting angle resolves.
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| CN201720368632.2U CN207745199U (en) | 2017-04-10 | 2017-04-10 | Attitude data measuring device and the system using the device in replacement of total hip |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110584738A (en) * | 2019-09-30 | 2019-12-20 | 北京爱康宜诚医疗器材有限公司 | Measuring method and device for acetabular rasping parameters, storage medium and processor |
| CN111214316A (en) * | 2019-11-21 | 2020-06-02 | 南京冬尚生物科技有限公司 | Artificial hip joint pressure measuring instrument |
| CN111714255A (en) * | 2020-04-29 | 2020-09-29 | 北京天智航医疗科技股份有限公司 | Method and device for determining angle safety zone of acetabular cup and electronic equipment |
-
2017
- 2017-04-10 CN CN201720368632.2U patent/CN207745199U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110584738A (en) * | 2019-09-30 | 2019-12-20 | 北京爱康宜诚医疗器材有限公司 | Measuring method and device for acetabular rasping parameters, storage medium and processor |
| CN111214316A (en) * | 2019-11-21 | 2020-06-02 | 南京冬尚生物科技有限公司 | Artificial hip joint pressure measuring instrument |
| CN111714255A (en) * | 2020-04-29 | 2020-09-29 | 北京天智航医疗科技股份有限公司 | Method and device for determining angle safety zone of acetabular cup and electronic equipment |
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