CN212346828U - Positioning and measuring device for hip joint replacement operation - Google Patents

Positioning and measuring device for hip joint replacement operation Download PDF

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CN212346828U
CN212346828U CN202020993064.7U CN202020993064U CN212346828U CN 212346828 U CN212346828 U CN 212346828U CN 202020993064 U CN202020993064 U CN 202020993064U CN 212346828 U CN212346828 U CN 212346828U
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positioning
replacement surgery
hip replacement
patient
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蔡振
常涛
刘成龙
刘子洋
蔡宏
吴坚
史冬泉
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I Join Medical Technology Co ltd
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I Join Medical Technology Co ltd
Beijing Jishuitan Hospital
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Abstract

The utility model provides a positioning and measuring device and a measuring method for hip joint replacement surgery, which use a high-precision sensor and a high-performance micro processor to measure so as to solve the problems of manual error and body position error existing in the ruler amount; the measurement is carried out by means of corresponding matched tools which are fixedly arranged on the anterior superior iliac spine of the hip joint pelvis of the patient and move along with the pelvis, and the measurement target is the patient per se so as to reduce the influence of the standing posture of the patient on the data. The utility model has stronger flexibility, on one hand, the operation scheme is planned in advance according to the specific condition of the patient, and the supine position and the lateral position can be selected and applied; on the other hand, data can be measured in real time in the operation process, and bidirectional data comparison and verification are carried out, so that better clinical curative effect is achieved, and the probability of secondary operation is reduced. The utility model discloses based on three-dimensional motion data model to according to the accurate position plane who acquires human coronal plane of three-dimensional motion data, consequently more accurate to the processing of angle.

Description

Positioning and measuring device for hip joint replacement operation
Technical Field
The utility model belongs to the field of medical equipment, in particular to a positioning and measuring device and a measuring method for hip joint replacement surgery.
Background
The total hip replacement is a novel operation mode appearing in recent years, and the installation and replacement of a hip prosthesis are completed in a relatively small incision (5-10 cm) by improving an operation access, an operation method and an operation tool on the basis of the traditional total hip replacement. The goal of total hip replacement is to reconstruct a stable, weight bearing, and functionally functional, long-term effective hip joint. With improvements in joint prostheses and advances in surgical techniques, survival of the prosthesis in vivo for 10-20 years is now not an issue. However, the current joint replacement patients show a trend towards younger patients, which puts higher demands on the service life of the joints. With the same joint prosthesis, different placement positions and angles bring different stress conduction modes, and the maximum service life can be obtained only by accurately reconstructing the hip joint.
The most central part of the artificial joint prosthesis is a friction interface which consists of two friction pairs: firstly, the lining is made of polyethylene, high cross-linked polyethylene, ceramics, metal and other materials; the second is a ball head, which is usually made of metal and ceramic, and is also made of some composite materials, such as black crystals and the like. Other parts that form a set of hip joints are acetabular cups and femoral stems, which are designed for fixation of friction pairs. The ceramic lining and the polyethylene lining can not directly grow into the bone, so that the metal outer cup bearing lining needs to be designed, and the bone can grow into the surface of the outer cup. Likewise, the femoral stem also serves to carry the femoral head. On the other hand, the installation angle and position of the hip joint prosthesis also have a crucial influence on the life span and clinical function of the prosthesis, and poor installation of the acetabular prosthesis can lead to dislocation of the prosthesis, impact of edges, increased wear and change of the range of motion of the joint.
At present, the following problems are mostly existed after hip replacement: 1. the acetabulum prosthesis is not implanted to reach the initial stability, so that the acetabulum is loosened; 2. wear is caused by too large anteversion angle or too large abduction angle of the mortar cup; 3. too deep or too shallow an acetabular cup fit results in a poor fit. These problems are mostly caused by inaccurate positioning measurements during surgery. According to the literature, safe acetabulum placement angles, namely, abduction angle AI (the included angle between the acetabulum axis and the long axis of the body) of 30 degrees to 50 degrees and anteversion angle AA (the included angle between the projection of the acetabulum axis on the cross section of the body and the transverse axis of the body) of 5 degrees to 25 degrees are referred to by most joint surgeons. The anatomical acetabulum abduction angle of adults in Guangxi of China is about 50 degrees, and researches show that the function of hip joints and the activity of the hip joints between 45 degrees and 55 degrees of acetabulum abduction angle reconstruction can be maximally recovered, and meanwhile, the abrasion of a friction interface and the prosthesis loosening rate can be reduced.
In the prior art, in order to acquire the abduction angle and the anteversion angle of a patient, an individual template is designed and manufactured preoperatively according to a three-dimensional digital model of CT data of the patient and characteristic bony mark points, and a reference region of the real bony structure of the patient is integrated into the template, which is equivalent to marking the template, so that the template and the bony structure can be identified and registered accurately. Then, calculating and acquiring the anteversion angle of the patient by using the ruler quantity in a CT image obtained by shooting the sole of the foot of the patient; in a CT image taken of the front of a patient, the abduction angle of the patient is acquired by calculation using the ruler amount. In the operation process, the handle is installed at a corresponding acetabulum angle, and the acetabulum prosthesis is installed by matching with abundant operation experience of doctors.
However, the above positioning measurement scheme of the prior art has the following disadvantages: 1. the data measurement mode is measured by a ruler, so that manual errors and body position errors are inevitable; 2. the measured target is a CT light sheet of a patient, and the standing posture of the patient has great influence on data; 3. the establishment of the scheme is established on the basis of a two-dimensional plane, and errors exist in the establishment of the three-dimensional data of the patient; 4. errors also exist between planning before the operation and actual operation in the operation, an actual measurement reference object is not used in the operation, the swing angle of the tool is directly observed by eyes in cooperation with the tool, and secondary operation is possibly needed if a large error occurs; 5. there is no dynamic three-dimensional data for protocol validation and patient acetabular motion is very important for the establishment of deformities in the knee joint.
SUMMERY OF THE UTILITY MODEL
In view of the above-mentioned defects of the prior art, the present invention provides a positioning and measuring device and a measuring method for hip replacement surgery, which uses a high-precision sensor and a high-performance micro-processor to perform measurement to solve the problems of manual error and posture error in the measurement; the measurement is carried out by means of corresponding matched tools which are fixedly arranged on the anterior superior iliac spine of the hip joint pelvis of the patient and move along with the pelvis, and the measurement target is the patient per se so as to reduce the influence of the standing posture of the patient on the data. The utility model has stronger flexibility, on one hand, the operation scheme is planned in advance according to the specific condition of the patient, and the supine position and the lateral position can be selected and applied; on the other hand, data can be measured in real time in the operation process, and bidirectional data comparison and verification are carried out, so that better clinical curative effect is achieved, and the probability of secondary operation is reduced. The utility model discloses based on three-dimensional motion data model to according to the accurate position plane who acquires human coronal plane of three-dimensional motion data, consequently more accurate to the processing of angle.
In order to achieve the above object, in one aspect, the present invention provides a positioning and measuring device for hip replacement surgery, comprising:
the system comprises at least two position indicator modules, namely a reference position indicator module and a measurement position indicator module, and is used for measuring and outputting position information data of the reference position indicator module and the measurement position indicator module in real time;
the pelvis calibrator is used for positioning the pelvis position to calibrate the locator module;
the reference locator is used for fixing the reference locator module;
and the intelligent terminal is used for receiving and processing the position information data of the positioning instrument module so as to obtain and display the abduction angle and anteversion angle data for expressing the cross section orientation of the acetabulum fossa in real time.
Further, the locator module comprises a shell and a circuit board; the circuit board comprises a power supply, a microprocessor, a motion sensor and a wireless communication module.
Further, the power supply is a button cell.
Further, the circuit board further comprises a power switch, and the power switch is a mechanical self-locking switch (i.e., a physical switch, a switch not controlled by software), preferably a push switch.
Further, the microprocessor is an embedded programmable controller, such as an FPGA, a CPLD, a single chip, and the like, and is used for analyzing and processing data and controlling other modules on the circuit board.
Further, the motion sensor includes:
an accelerometer for measuring acceleration;
a gyroscope for measuring angular velocity; and
a magnetometer for measuring the strength of the magnetic force.
Further, the accelerometer is a three-axis accelerometer, and can output X, Y, Z three-axis accelerations; the gyroscope is a three-axis gyroscope and can output X, Y, Z angular velocities of three axes; the magnetometer is a three-axis magnetometer and can output X, Y, Z three-axis magnetic strength.
Further, the wireless communication module is selected from one of Bluetooth, WiFi, Zig-Bee or mobile network communication modules, and is preferably a Bluetooth module.
Further, the pelvis calibrator is T-shaped and comprises a cross rod and a vertical rod which is approximately vertical to the cross rod.
Further, the length of the cross bar and the vertical bar is adjustable.
Furthermore, the cross bar is provided with a clamp used for fixing the locator module.
Further, the reference locator comprises a reference fixing nail and a reference locating arm connected with the reference fixing nail, and one end of the reference locating arm is provided with a clamp used for fixing the reference locator module.
Further, the angle of the reference locator arm relative to the reference staple is adjustable.
Furthermore, the intelligent terminal is an integrated electronic device integrated with a wireless receiving module, a data processing module and a display module, for example, an intelligent terminal with data receiving, processing and displaying functions, such as a desktop computer, a notebook computer, a tablet computer or a smart phone.
In another aspect, the present invention provides a method for measuring in hip replacement surgery using the above positioning and measuring device, comprising the steps of:
step 1, carrying out azimuth calibration and six-side calibration on two position indicator modules;
step 2, driving a reference fixing nail on the outer side of the acetabulum fossa along the acetabulum surgical incision;
step 3, selecting any one of the two position finder modules as a reference position finder module, and installing the reference position finder module on a clamp holder of the pelvis calibrator;
step 4, adjusting the cross rod of the pelvis calibrator to be equal in length according to the size of the anterior superior iliac spines on the two sides of the patient, enabling the two ends of the cross rod to be located at the anterior superior iliac spines on the two sides of the patient, adjusting the lower end of a vertical rod of the pelvis calibrator to the pubic bone joint position of the patient, calibrating a reference locator module under the condition that the pelvis calibrator is kept stable and does not shake, acquiring attitude angle data serving as initial pelvis data of the patient, and taking down the pelvis calibrator and the reference locator module after calibration of the reference locator module is completed;
step 5, mounting the calibrated reference locator module on a clamper of a reference locator, and adjusting a reference locating arm of the reference locator to a proper angle and fixing;
step 6, selecting the other one of the two position finder modules as a measurement position finder module, and installing the measurement position finder module on a clamp holder of the pelvis calibrator;
step 7, placing two ends of a cross rod of the pelvis calibrator on anterior superior iliac spines on two sides of a patient, placing the lower end of a vertical rod on a pubic bone combined position of the patient, calibrating a measurement positioning instrument module under the condition that the pelvis calibrator is kept not to shake, acquiring attitude angle data, and taking down the pelvis calibrator and the measurement positioning instrument module after the calibration of the measurement positioning instrument module is finished;
step 8, mounting the calibrated measurement positioning instrument module on a clamp holder of an acetabulum guide device, mounting the acetabulum guide device in a polished acetabulum socket, adjusting the direction of the acetabulum guide device, and displaying the current abduction angle and anteversion angle data in real time by an intelligent terminal;
and 9, driving the acetabular prosthesis according to the real-time angle data displayed by the intelligent terminal, wherein the abduction angle and anteversion angle data can be updated in real time when the acetabular prosthesis is driven by each knocking so as to help a doctor to install the prosthesis more accurately.
The attitude angle data includes Roll angle (Roll, commonly expressed as φ or φ
Figure BDA0002522571120000047
) Pitch (Pitch, denoted θ) and azimuth (Yaw, denoted ψ), by which the exact attitude of an object in space can be described.
The above-mentioned correlation algorithm involved in obtaining attitude angle, abduction angle and anteversion angle data is as follows:
A. magnetometer error correction
The error that phenomenon such as triaxial nonorthogonal, triaxial sensitivity asymmetry, zero offset that magnetometer exists can arouse magnetometer output, the utility model discloses a establish a mathematical compensation model and rectify the error.
As shown in fig. 1, assuming that the sensitivity of the three axes (OX, OY, OZ) of the ideal magnetometer is symmetric and completely orthogonal, the three axes (OX ', OY ', OZ ') of the actual magnetometer and the ideal three axes have the following correspondence: coordinate axes OZ and OZ ' are coincident, a coordinate plane YOZ and Y ' OZ ' are coplanar, an included angle between the OY and the OY ' is recorded as beta, an included angle between an OX ' axis and the XOZ is recorded as gamma, an included angle between the OX axis and the X ' OZ ' is recorded as alpha, and an output value of an actual magnetometer and an output value of an ideal magnetometer can be represented by an equation (1):
Figure BDA0002522571120000041
wherein S is a diagonal matrix representing sensitivity coefficients,
Figure BDA0002522571120000042
r is a 3 x 3 upper triangular matrix, which is a representation of the magnetometer vector values transformed from an ideal orthogonal coordinate system to a non-orthogonal coordinate system,
Figure BDA0002522571120000043
o is an offset component caused by zero drift, static measurement noise, and the like in the signal amplification circuit,
Figure BDA0002522571120000044
and (3) carrying out inverse transformation on the formula (1) to obtain a correction model for correcting errors:
Figure BDA0002522571120000045
wherein the content of the first and second substances,
Figure BDA0002522571120000046
considering that the error between the actual coordinate axis and the ideal coordinate axis is only between 0 ° and 1 °, the following approximation can be made: cos α ≈ 1, cos β ≈ 1, cos γ ≈ 1, sin α ≈ α, sin β ≈ β, sin γ ≈ γ, sin β sin γ ≈ 0, whereby the correction model can be simply expressed as:
Figure BDA0002522571120000051
designing a neural network structure according to equation (3) to perform 9 parameter estimations, as shown in fig. 2, the neural network structure includes 3 layers: input layer (4 nodes), hidden layer (3 nodes), output layer (1 node), the output expression of neural network is:
Figure BDA0002522571120000052
m is the ideal output value of the magnetometer, therefore, the error between the actual output value and the ideal value can be obtained,
Figure BDA0002522571120000053
let ω be [ α, β, γ, S ]x，Sy，Sz，bx，by，bz]Representing 9 parameters of the neural network, using an error back propagation method for training the neural network, setting a learning rate a between 0.01 and 0.1, updating the parameters by using a partial derivation mode,
Figure BDA0002522571120000054
the initial value of the parameter is set as bx＝by＝bz＝0，α＝β＝γ＝0，Sx＝Sy＝S z0. The actual values of 15 magnetometers in all directions are randomly acquired in the horizontal plane to serve as training samples, and the square error of the training samples is defined as the target of the neural networkFunction:
Figure BDA0002522571120000055
and when the value of the target function J is smaller than the iteration stop condition epsilon, the neural network converges, and the parameter training is finished. And (4) substituting the value into the formula (3) to obtain the corrected output value of the ideal magnetometer.
B. Attitude angle conversion
The basic operating principle of a magnetometer is as follows: let the data of the ideal magnetic component of the three axes of the magnetometer be [ M ]bx，Mby，Mbz]The roll angle and pitch angle of the carrier (i.e. the aligner module) are phi and theta respectively, then:
Xh＝Mbx×cosθ+Mby×sinφ×sinθ+Mbz×cosφ×sinθ
Yh＝Mby×cosφ-Mbz×sinφ
wherein, XhBeing the component of the magnetometer on the X axis in the horizontal direction, YhThe component of the magnetometer on the horizontal Y axis is shown in detail in fig. 3.
From the two components obtained above, the magnetic azimuth angle ψ is calculated by the following formulaM0：
180°-arctan(Yh/Xh) Xh＜0，Yh＜0
arctan(Yh/Xh) Xh＞0，Yh＜0
360°-arctan(Yh/Xh) Xh＞0，Yh＞0
180°+arctan(Yh/Xh) Xh＜0，Yh＞0
90° Xh＝0，Yh＜0
270° Xh＝0，Yh＞0
C. Obtaining space coordinates and motion trail
The acceleration is integrated to obtain the instantaneous movement speed (taking the component on the X axis as an example) of the target object (i.e. the locator module) as follows:
Figure BDA0002522571120000061
wherein, ax[t]And (3) obtaining the corresponding instantaneous movement speed by performing similar calculation on the other two shafts, wherein the acceleration of the moment t on the X shaft is delta t which is a sampling period.
The motion speed is integrated to obtain the motion displacement of the target object (taking the component on the X axis as an example):
Figure BDA0002522571120000062
the spatial motion displacement of the target object over the time period is:
Figure BDA0002522571120000063
the spatial coordinates of the target object at the moment are: (s)x[t],sy[t],sz[t]). In the three-dimensional coordinate system, a corresponding spatial coordinate point in a time period is the motion trail of the target object.
D. Filtering offset components caused by spatial flipping
In the tracking process of a target object (namely a locator module), space overturn occurs, so that the gravity acceleration can cause an offset component on an axis of an acceleration sensor, the space attitude of the target object is identified through a gyroscope at the moment, and the offset component of the gravity acceleration is filtered through coordinate transformation. Determining parameters in a rotation matrix according to the Euler angle method
Figure BDA0002522571120000064
θ and γ, the components of the gravitational acceleration in the x, y and z axes of the acceleration sensor are:
Figure BDA0002522571120000065
therefore, when the target object moves in space, the instantaneous speed and displacement of the target object in space can be obtained through integral operation.
E. Fitting the ball according to the motion track points and obtaining the coordinates of the center of the ball
Firstly, performing spherical fitting according to a least square sphere fitting method of an incomplete spherical surface, as shown in fig. 4, wherein an x axis corresponds to a horizontal direction of a waist of a human body, a y axis corresponds to a long axis direction of the human body, the x axis and the y axis jointly define a coronal plane α of a pelvis of the human body, and an equation of a least square sphere of the fitted incomplete spherical surface is set as:
(x+a)2+(y+b)2+(x+c)2＝R2
wherein, the fitting sphere center is A (-a, -b, -c), and the radius is R.
Let a2+b2+c2-R2D, taking the space coordinate p of each sample point on the actually measured non-complete spherei(xi,yi,zi) Substituting the spherical equation, which may not be equal to zero, sets to:
Figure BDA0002522571120000066
wherein k isiFor the function deviation value of each sampling point on the actual incomplete sphere and the corresponding point on the fitted least square sphere
Figure BDA0002522571120000071
At a minimum, the fitted least squares sphere approximates the actual incomplete sphere, let:
Figure BDA0002522571120000072
according to the method of finding the minimum value, from
Figure BDA0002522571120000073
The following system of equations is obtained:
Figure BDA0002522571120000074
wherein, i is 1,2,3 … n is the measured point number on the non-complete sphere. Solving the equation system can obtain a, b, c and d, and then obtain the sphere center A (-a, -b, -c) of the fitted least square sphere.
F. Obtain abduction angle and anteversion angle
Respectively solving the included angles between the AO and the x axis and the y axis on the plane alpha according to the sphere center coordinate sphere
Figure BDA0002522571120000077
(i.e., abduction angle) and θ (i.e., anteversion angle):
Figure BDA0002522571120000075
Figure BDA0002522571120000076
the beneficial technical effects of the positioning and measuring device and the measuring method for hip replacement surgery of the utility model are at least shown in the following aspects:
(1) the utility model uses the high-precision sensor and the high-performance micro processor to measure, so as to solve the problems of manual error and body position error existing in the ruler amount, greatly increase the measuring accuracy, reduce the time and difficulty of operation, and overcome the dependence on the experience and subjective judgment of doctors to a certain extent;
(2) the utility model optimizes the CT optical sheet measuring mode in the prior art into the CT optical sheet which is matched with the actual operation process for real-time measurement, so that the hip joint replacement operation has stronger flexibility, on one hand, the operation scheme is planned in advance according to the specific situation of the patient, and the suitable supine position and lateral position can be selected; on the other hand, data can be measured in real time in the operation process, and bidirectional data comparison and verification are carried out, so that the prosthesis is more accurately installed, a better clinical curative effect is achieved, and the probability of secondary operation is reduced;
(3) the utility model can establish a three-dimensional motion model by fixing the measuring and positioning module on the femoral stem for installing the acetabular prosthesis, and can move the hip joint in a specific way, the motion sensor can acquire motion data in real time, the microprocessor processes the motion data, calculates the relative angle positions of the abduction angle and the anteversion angle of the hip joint of the human body, and transmits the angle value to the intelligent terminal through the wireless communication module for displaying, and a doctor can finish the accurate installation of the prosthesis in the hip joint replacement operation according to the displayed measurement result;
(4) the utility model adopts two same position indicator modules, one is used as reference, and the other is used for measurement, so that the data of the relative motion of the two can be obtained, thereby offsetting the error caused by the posture or body position change of the patient and leading the measurement result to be more accurate;
(5) the utility model discloses a locater module is small, with low costs, the simple operation.
Drawings
FIG. 1 is a schematic diagram showing a three-axis correspondence relationship between an ideal magnetometer and an actual magnetometer;
FIG. 2 is a schematic diagram of a neural network training architecture for a magnetometer error correction model;
FIG. 3 is a schematic view of the attitude angular position of a magnetometer;
FIG. 4 is a schematic diagram of simulated spherical coordinates;
fig. 5 is a schematic diagram of the position finder module according to a preferred embodiment of the present invention for performing position calibration;
FIG. 6 is a schematic diagram of a reference locator module according to a preferred embodiment of the present invention calibrated using a pelvic calibration unit;
FIG. 7 is a schematic view of a reference locator constructed and operative in accordance with a preferred embodiment of the present invention;
fig. 8 is a schematic diagram of a measurement locator module according to a preferred embodiment of the present invention calibrated using a pelvic calibration device;
fig. 9 is a schematic view of the structure and the usage of the acetabular guide according to a preferred embodiment of the invention.
Detailed Description
The following embodiments of the present invention will be described in detail, and the following embodiments are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 5 to 9, in a preferred embodiment, the positioning and measuring device for hip replacement surgery of the present invention comprises at least two positioning instrument modules 1, a pelvis calibration instrument 2, a reference positioning instrument 3 and an intelligent terminal (not shown in the figures).
The number of the positioning instrument modules 1 is two, and the two positioning instrument modules are respectively a reference positioning instrument module 11 and a measurement positioning instrument module 12. The locator module 1 comprises a shell and a circuit board; the circuit board comprises a power supply, a microprocessor, a motion sensor, a wireless communication module and a power switch. Wherein, the power supply is a button cell; the microprocessor is an embedded programmable controller; the motion sensor comprises a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer; the wireless communication module is a Bluetooth module; the power switch is a push switch.
The pelvic marker 2 is T-shaped and comprises a cross bar 21 and a vertical bar 22 substantially perpendicular to the cross bar 21. The length of the cross bar 21 and the vertical bar 22 is adjustable. The cross bar 21 has a holder 23 for holding the aligner module 1.
The reference locator 3 comprises a reference fixing pin 31 and a reference locating arm 32 connected thereto, and one end of the reference locating arm 32 is provided with a clamp 33 for fixing the reference locator module 11. The angle of the reference locator arm 32 relative to the reference staple 31 is adjustable.
The intelligent terminal is a tablet computer or a smart phone.
In the hip replacement surgery, the method for measuring by using the positioning measuring device of the embodiment comprises the following steps:
step 1, as shown in fig. 5, two locator modules 1 are simultaneously installed in a double-module clamp holder 6, are placed on a horizontal calibration disc 5 for azimuth calibration, and are operated to slowly rotate for one circle according to the prompt of an intelligent terminal to finish azimuth calibration; then the double-module clamper 6 is taken down from the horizontal calibration disc 5, placed on a horizontal operation platform, and six sides of calibration are carried out according to the prompt of the intelligent terminal;
step 2, as shown in fig. 6, driving a reference fixing nail 31 on the outer side of an acetabulum fossa along an acetabulum surgical incision;
step 3, selecting any one of the two position finder modules 1 as a reference position finder module 11, and installing the reference position finder module 11 on a clamp 23 of the pelvis calibrator 2;
step 4, adjusting the cross rod 21 of the pelvis calibrator 2 to be equal in length according to the size of the anterior superior iliac spines on the two sides of the patient (namely the length of AB), enabling the two ends of the cross rod 21 to be located at the anterior superior iliac spines on the two sides of the patient (namely A, B), adjusting the lower end of the vertical rod 22 of the pelvis calibrator 2 to be at the pubic bone joint position of the patient (namely the position C), calibrating the reference locator module 11 under the condition that the pelvis calibrator 2 is kept stable and does not shake, acquiring attitude angle data serving as initial pelvis data of the patient, and taking down the pelvis calibrator 2 and the reference locator module 11 after the calibration of the reference locator module 11 is completed;
step 5, as shown in fig. 7, connecting the reference positioning arm 32 of the reference positioner 3 to the reference fixing nail 31, installing the calibrated reference locator module 11 on the clamper 33 of the reference positioner 3, and adjusting the reference positioning arm 32 to a proper angle and fixing;
step 6, as shown in fig. 8, selecting another one of the two positioning instrument modules 1 as a measurement positioning instrument module 12, and mounting the measurement positioning instrument module 12 on a clamp 23 of the pelvis calibrator 2;
step 7, placing two ends of a cross rod 21 of the pelvis calibrator 2 at anterior superior iliac spines (namely A, B) on two sides of a patient, placing the lower end of a vertical rod 22 at a pubic bone joint position (namely C) of the patient, calibrating the measurement and positioning instrument module 12 under the condition that the pelvis calibrator 2 is kept not to shake, acquiring attitude angle data, and taking down the pelvis calibrator 2 and the measurement and positioning instrument module 12 after the calibration of the measurement and positioning instrument module 12 is completed;
step 8, as shown in fig. 9, installing the calibrated measurement and positioning instrument module 12 on a clamp holder 42 of the acetabulum guide device 4, installing a ball head 41 of the acetabulum guide device 4 in the ground acetabulum socket, adjusting the direction of the acetabulum guide device 4, and displaying the current installation angle data (namely abduction angle data and anteversion angle data) in real time by an intelligent terminal;
and 9, driving the acetabular prosthesis according to the real-time angle data displayed by the intelligent terminal, wherein the mounting angle data can be updated in real time when the acetabular prosthesis is driven by knocking every time, so that a doctor can mount the acetabular prosthesis more accurately.
The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the teachings of this invention without undue experimentation. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.

Claims (9)

1. A positioning and measuring device for use in hip replacement surgery, comprising:
the system comprises at least two position indicator modules, namely a reference position indicator module and a measurement position indicator module, and is used for measuring and outputting position information data of the reference position indicator module and the measurement position indicator module in real time;
the pelvis calibrator is used for positioning the pelvis position to calibrate the locator module;
the reference locator is used for fixing the reference locator module;
and the intelligent terminal is used for receiving and processing the position information data of the positioning instrument module so as to obtain and display the abduction angle and anteversion angle data for expressing the cross section orientation of the acetabulum fossa in real time.
2. The alignment measurement device for hip replacement surgery of claim 1, wherein the aligner module comprises a housing and a circuit board; the circuit board comprises a power supply, a microprocessor, a motion sensor and a wireless communication module.
3. The positioning measurement device for hip replacement surgery of claim 2, wherein the motion sensor comprises:
an accelerometer for measuring acceleration;
a gyroscope for measuring angular velocity; and
a magnetometer for measuring the strength of the magnetic force.
4. The positioning measurement device for hip replacement surgery of claim 3, wherein the accelerometer is a three-axis accelerometer; the gyroscope is a three-axis gyroscope; the magnetometer is a three-axis magnetometer.
5. The positioning measurement device for hip replacement surgery of claim 2, wherein the wireless communication module is selected from one of bluetooth, WiFi, Zig-Bee or mobile network communication modules.
6. The alignment measurement device for hip replacement surgery of claim 2, wherein the pelvic marker is T-shaped and includes a cross bar and a vertical bar substantially perpendicular to the cross bar; the cross bar is provided with a clamp used for fixing the locator module.
7. The alignment measurement device for hip replacement surgery of claim 6, wherein the length of the cross-bar and the vertical bar are adjustable.
8. The alignment measuring device for hip replacement surgery as set forth in claim 2, wherein the reference locator comprises a reference staple and a reference locator arm connected thereto, the reference locator arm having a holder at one end for securing the reference locator module.
9. The positioning measurement device for hip replacement surgery of claim 8, wherein an angle of the reference locator arm relative to the reference staple is adjustable.
CN202020993064.7U 2020-06-03 2020-06-03 Positioning and measuring device for hip joint replacement operation Active CN212346828U (en)

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