CN216675735U - Measuring system for lower limb force line angle - Google Patents
Measuring system for lower limb force line angle Download PDFInfo
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- CN216675735U CN216675735U CN202122630214.5U CN202122630214U CN216675735U CN 216675735 U CN216675735 U CN 216675735U CN 202122630214 U CN202122630214 U CN 202122630214U CN 216675735 U CN216675735 U CN 216675735U
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Abstract
The utility model relates to the field of detection of lower limb force lines in orthopedics clinic, and discloses a measuring system for lower limb force line angles, which comprises a knee joint fixing frame, an ankle joint fixing frame, a data processing center and a display module; the knee joint fixing frame comprises a knee joint elastic fixing body, and two sides of the knee joint elastic fixing body are respectively provided with a sensing unit; the ankle joint fixing frame comprises an ankle joint elastic fixing body, and two sides of the ankle joint elastic fixing body are respectively provided with a sensing unit; the four sensing units are respectively connected with a data processing center, and the data processing center is used for determining a lower limb force line and an included angle of the lower limb force line; the display module is connected with the data processing center and used for displaying the lower limb force line. The problem of current device operating procedure loaded down with trivial details, need the invasion fix in the skeleton with the sensor, be not suitable for carrying out the real-time definite of line of force in the art is solved.
Description
Technical Field
The utility model relates to the field of detection of lower limb force lines in orthopedics clinic and discloses a measuring system for lower limb force line angles.
Background
Knee osteoarthritis is a slow-moving joint disease characterized by degeneration and loss of knee joint cartilage and regeneration of joint margin and subchondral bone, the clinical manifestations mainly include knee joint pain, deformity and dysfunction, and severe cases need to be treated by clinical operations such as artificial knee joint replacement and high tibial osteotomy.
No matter be planning, implementation and the later stage operation effect aassessment of knee joint replacement or high-order osteotomy of shin bone operation, accurate judgement of lower limbs line of force is essential process. The lower limb force line is a connecting line from the femoral head central point to the ankle joint central point, and the normal lower limb force line should pass through the knee joint central point. In the operation process, the lower limb force line of the human body is required to be constantly positioned, so that the knee joint varus angle of the human body is adjusted. In the prior art, an operator usually holds two ends of a metal force line measuring rod by hands, so that one end of a force line measuring piece is aligned with a femoral head central point, the other end of the force line measuring piece is aligned with an ankle joint central point, and whether a force line of a lower limb of a human body passes through the central point of a knee joint is observed through X-ray fluoroscopy, so that whether a joint replacement angle or a osteotomy angle is proper is judged.
However, the measurement positioning method of the force line measuring device held by the doctor is influenced by human factors such as shaking of the doctor's hand, and the accuracy of measurement may be reduced. The fixing device is used for fixing the force line measuring rod on a human body or an operating table, so that the measuring accuracy can be improved, but the real-time perspective in the operation greatly increases the radiation dose to doctors and patients, and the health of the doctors and the patients is influenced.
In order to solve the above problems, patent 201910599596 discloses a lower limb force line angle evaluation and osteotomy device based on acceleration and gyroscope, which monitors the motion of the lower limb by a navigation device fixed on the bone, converts the direction indicated by the navigation device into the angle of the lower limb force line, and further determines the angle of the target osteotomy by laser indication. The utility model discloses this kind of utility model has solved the radiation dose problem that brings through the problem of handheld metal measuring stick or dead lever to a certain extent, nevertheless need be fixed in the skeleton with the sensor through the steel nail, only can be used in the art, has the invasiveness, and in addition, this method need measure the angle that just can accomplish low limbs power line many times, and the step is loaded down with trivial details, and it is long when having increased the operation. Most critically, such methods do not allow for accurate determination of knee and ankle center point locations. Patent 201910884469 discloses a method for establishing a lower limb skeleton model using CT image data, which determines a lower limb force line by reconstructing a three-dimensional model from an image, but the method is likely to be more accurate, but the operation process is more complicated, and requires CT and other resources, and is not suitable for real-time determination of the force line in the operation.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a measuring system for the lower limb force line angle, which solves the problems that the existing device has complicated operation steps, needs to fix a sensor on a skeleton invasively and is not suitable for real-time determination of the force line in the operation.
The utility model is realized by the following technical scheme:
a measuring system for lower limb force line angles comprises a knee joint fixing frame, an ankle joint fixing frame, a data processing center and a display module;
the knee joint fixing frame comprises a knee joint elastic fixing body, wherein one side of the knee joint elastic fixing body is provided with a knee joint inner side sensing unit, and the other side of the knee joint elastic fixing body is provided with a knee joint outer side sensing unit;
the ankle joint fixing frame comprises an ankle joint elastic fixing body, wherein one side of the ankle joint elastic fixing body is provided with an ankle joint inner side sensing unit, and the other side of the ankle joint elastic fixing body is provided with an ankle joint outer side sensing unit;
the knee joint inner side sensing unit, the knee joint outer side sensing unit, the ankle joint inner side sensing unit and the ankle joint outer side sensing unit are respectively connected with a data processing center, and the data processing center is used for determining a lower limb force line and an included angle of the lower limb force line;
the display module is connected with the data processing center and used for displaying the lower limb force line.
Furthermore, the knee joint fixing frame also comprises a knee joint inner protecting body and a knee joint outer protecting body, the knee joint inner protecting body is connected to one side of the knee joint elastic fixing body, and the knee joint outer protecting body is connected to the other side of the knee joint elastic fixing body;
the knee joint inner side sensing unit is fixed on the knee joint inner protective body, and the knee joint outer side sensing unit is fixed on the knee joint outer protective body.
Furthermore, the ankle joint fixing frame also comprises an ankle joint inner protecting body and an ankle joint outer protecting body, the ankle joint inner protecting body is connected to one side of the ankle joint elastic fixing body, and the ankle joint outer protecting body is connected to the other side of the ankle joint elastic fixing body;
the ankle joint inner side sensing unit is fixed on the ankle joint inner protecting body, and the ankle joint outer side sensing unit is fixed on the ankle joint outer protecting body.
Furthermore, a wireless communication module is arranged in each of the knee joint inner side sensing unit, the knee joint outer side sensing unit, the ankle joint inner side sensing unit and the ankle joint outer side sensing unit, and the wireless communication module is connected with the data processing center.
Further, the wireless communication module adopts an SPI wireless module.
Further, the model of the knee joint inner side sensing unit, the knee joint outer side sensing unit, the ankle joint inner side sensing unit and the ankle joint outer side sensing unit is MPU 9250.
Compared with the prior art, the utility model has the following beneficial technical effects:
the utility model discloses a measuring system of lower limb force line angles, which comprises a knee joint fixing frame, an ankle joint fixing frame and a data processing center, wherein sensing units are arranged on two sides of the knee joint fixing frame, the sensing units are arranged on two sides of the ankle joint fixing frame, 4 sensing units are connected with the data processing center, and the data processing center performs fusion calculation on received data of the sensing units to obtain a femur acetabulum socket-knee joint central connecting line and an acetabulum socket-ankle joint central connecting line so as to obtain the angles and the deviation degrees of the lower limb force lines; the knee joint fixing frame is fixed on the knee joint of the human body, the ankle joint fixing frame is fixed on the ankle joint of the human body, medical staff do not need to hold the force line measuring piece to position the force line of the lower limb, the accuracy of the positioning of the force line of the lower limb is improved, and the problem that the medical staff need to bear high-dose X-ray radiation in the hand-held force line measuring piece is solved; according to the measuring system for the lower limb force line angle, the paired sensors are fixed on the knee joint and the ankle joint, so that the femoral head central point, the knee joint central point and the ankle joint central point of a human body can be accurately measured in the movement process, and the problem that the knee joint and the ankle joint central point cannot be accurately determined by the conventional equipment is solved; the small sensing unit is adopted for wireless data transmission, so that a traditional complex measuring device in clinic is eliminated, and the device is simple to operate and easy to use; the sensing unit is fixed on the outer side of the joint, and the sensor is not required to be fixed on a bone through an operation, so that the problem of invasiveness of the conventional device is solved; the data processing center can receive the motion data of each positioning device in real time, calculate the required target joint center, further calculate the real-time lower limb force line and the lower limb force line offset angle, obtain the angle needing to be corrected through the operation, and have the advantages of monitoring the lower limb force line in real time before, during and after the operation.
Furthermore, the sensor fixing devices are respectively an inner protective body and an outer protective body of the knee joint and the ankle joint, and the inner protective body and the outer protective body of the knee joint and the ankle joint are fixed on the lower limb through bony prominences of the knee joint and the ankle joint. The size of the support can be adjusted through manual control of the elastic fixing body of the fixing support, so that the support can be freely matched with the sizes of the lower limbs of different patients, and the elastic fixing body has the advantages of easiness in wearing, simplicity in operation, practicability and convenience.
Drawings
FIG. 1 is a schematic view of a lower limb force line angle measurement system according to the present invention;
FIG. 2 is a schematic view of a knee joint fixing frame in the system for measuring force line angle of lower limbs of the present invention;
FIG. 3 is a side view of FIG. 2;
FIG. 4 is a schematic view of an ankle joint fixing bracket in the measuring system for lower limb force line angle of the utility model;
FIG. 5 is a side view of FIG. 4;
FIG. 6 is a schematic view of a lower limb force line angle of the present invention;
FIG. 7 is a schematic view of the force line angle detection during lower limb swing according to the present invention;
FIG. 8 is a schematic view of the lower limb force line calculation process of the present invention.
Wherein: the device comprises a knee joint elastic fixing body 1, an ankle joint elastic fixing body 2, a knee joint inner side sensing unit 3, a knee joint outer side sensing unit 4, an ankle joint inner side sensing unit 5, an ankle joint outer side sensing unit 6, a spring 7, a knee joint inner protecting body 8, a knee joint outer protecting body 9, a femoral head center 10, a knee joint center 11 and an ankle joint center 12; 13 is an ankle joint inner protective body, and 14 is an ankle joint outer protective body.
Detailed Description
The present invention will now be described in further detail with reference to specific examples, which are intended to be illustrative, but not limiting, of the utility model.
As shown in fig. 1, the utility model discloses a measuring system for lower limb force line angles, which comprises a sensing unit, a knee joint fixing frame, an ankle joint fixing frame, a data processing center and a display module.
The sensing unit is used for monitoring the motion conditions of thighs, crus and joints of the lower limbs, outputting original data such as acceleration and angles and outputting the data to the data processing center through the wireless transmission module integrated in the sensing unit;
the knee joint fixing frame comprises a knee joint semi-wrapping elastic support with elasticity, namely a knee joint elastic fixing body 1, and is used for accurately fixing two sensing units at high positions on two sides of a knee joint. When medical staff shakes the lower limbs, the femoral head center 10 and the knee joint center 11 can be positioned by fusing the data of the two sensing units;
ankle joint mount is including wrapping up elastic support from taking elastic ankle joint partly promptly ankle joint elastic fixation body 2 for with the accurate high-order of fixing in the joint both sides of two sensing units. When medical staff shakes the lower limbs, the femoral head center 10 and the ankle joint center 12 can be positioned by fusing data of the two sensing units;
the data processing center is used for wirelessly receiving the data of the sensing unit and carrying out fusion calculation to obtain a femur acetabulum fossa-knee joint central connecting line and an acetabulum fossa-ankle joint central connecting line and calculating the angle and the deviation degree of a lower limb force line;
and the display end interface is used for displaying the lower limb force line in real time, and is convenient for real-time adjustment in the operation.
As shown in fig. 2-3, the knee joint fixing frame comprises a knee joint elastic fixing body 1, wherein a knee joint inner side sensing unit 3 is arranged on one side of the knee joint elastic fixing body 1, and a knee joint outer side sensing unit 4 is arranged on the other side; the knee joint fixing frame also comprises a knee joint inner protecting body 8 and a knee joint outer protecting body 9, the knee joint inner protecting body 8 is connected to one side of the knee joint elastic fixing body 1, and the knee joint outer protecting body 9 is connected to the other side of the knee joint elastic fixing body 1; the knee joint inner side sensing unit 3 is fixed on the knee joint inner protective body 8, and the knee joint outer side sensing unit 4 is fixed on the knee joint outer protective body 9.
As shown in fig. 4 to 5, the ankle fixing frame includes an ankle elastic fixing body 2, an ankle inner side sensing unit 5 is provided at one side of the ankle elastic fixing body 2, and an ankle outer side sensing unit 6 is provided at the other side. The ankle joint fixing frame further comprises an ankle joint inner protecting body 13 and an ankle joint outer protecting body 14, the ankle joint inner protecting body 13 is connected to one side of the ankle joint elastic fixing body 2, and the ankle joint outer protecting body 14 is connected to the other side of the ankle joint elastic fixing body 2; the ankle joint inner side sensing unit 5 is fixed to the ankle joint inner protector 13, and the ankle joint outer side sensing unit 6 is fixed to the ankle joint outer protector 14.
As shown in fig. 3 and 5, the elastic fixing bodies 1 and 2 for knee joint and ankle joint are provided with springs 7, so as to ensure the adjustable length of the two fixing bodies, and can be adjusted according to the thickness of the legs of different patients.
The sensing unit is fixed in knee joint mount and ankle joint mount, and the knee joint mount card is in knee joint department, is fixed in the sensing unit knee joint and ankle joint's inside and outside high point, through handheld patient's low limbs from static accelerated motion, and the sensing unit gathers joint motion data, through wireless transmission module with data transfer to processing center, confirm respectively, calculate two line contained angles, confirm low limbs force line.
When the lower limb force line is measured, the knee joint of a patient is in a straight state, a tester holds the lower limb of the patient by hand and moves from static acceleration, the four sensing units acquire joint movement data, the joint movement data are wirelessly transmitted to the data processing center, a femur acetabulum socket-knee joint central connecting line and an acetabulum socket-ankle joint central connecting line are respectively determined, an included angle between the two connecting lines is calculated, and the force line state is evaluated, so that the force line state can be used for preoperative and postoperative evaluation or intraoperative correction force lines of orthopedics such as joint replacement and the like. The system adopts the small sensing unit to carry out wireless data transmission, eliminates the traditional complex measuring device in clinic, and has simple operation and easy use.
The method comprises the following steps of accurately detecting a central point of a joint and a central point of a femoral acetabular fossa by arranging sensors in pairs on a knee joint and an ankle joint respectively, and calculating the angle and the offset degree of a lower limb force line by calculating a femoral acetabular fossa-knee joint central connecting line and an acetabular fossa-ankle joint central connecting line; the sensing units are arranged in multiple points, so that the problem that the sensors need to be directly fixed to the bone is avoided.
The knee joint inner side sensing unit 3 and the knee joint outer side sensing unit 4 send the collected knee joint motion data to a data processing center, and the data processing center calculates a knee joint center 11; the ankle joint inner side sensing unit 5 and the ankle joint outer side sensing unit 6 send the collected ankle joint movement data to the data processing center, and the data processing center calculates the ankle joint center 12.
The specific process of determining the knee joint center 11 and the ankle joint center 12 by the data processing center is as follows:
firstly, calculating the rotating radiuses of 4 sensors;
then, a unified coordinate system is established by taking the rotation center as an origin, and the position of each sensor in the coordinate system is determined. Obtaining a knee joint center 11 according to the positions of the knee joint inner side sensing unit 3 and the knee joint outer side sensing unit 4 under the coordinate; the ankle center 12 is obtained from the positions of the ankle inner side sensing unit 5 and the ankle outer side sensing unit 6 at the coordinates.
As shown in fig. 6-8, the line from the knee joint center 11 to the femoral head center 10 is the femoral acetabulum fossa-ankle joint center line, and is marked as a first line, and the distance L1 of the first line is calculated; the line from the ankle center 12 to the femoral head center 10 is the line from the acetabular fossa to the ankle center, and is recorded as the second line, and the distance L2 of the second line is calculated.
The knee joint center 11 is projected to the second line, the femoral head center 10, the projected point of the knee joint center 11, and the ankle joint center 12 can determine a triangle, and the distance L3 from the projected point of the knee joint center 11 to the second line is calculated.
And calculating the included angle beta of the first connecting line and the second connecting line according to L1 and L3.
Claims (6)
1. A measuring system for lower limb force line angles is characterized by comprising a knee joint fixing frame, an ankle joint fixing frame, a data processing center and a display module;
the knee joint fixing frame comprises a knee joint elastic fixing body (1), wherein a knee joint inner side sensing unit (3) is arranged on one side of the knee joint elastic fixing body (1), and a knee joint outer side sensing unit (4) is arranged on the other side of the knee joint elastic fixing body;
the ankle joint fixing frame comprises an ankle joint elastic fixing body (2), wherein an ankle joint inner side sensing unit (5) is arranged on one side of the ankle joint elastic fixing body (2), and an ankle joint outer side sensing unit (6) is arranged on the other side of the ankle joint elastic fixing body;
the knee joint inner side sensing unit (3), the knee joint outer side sensing unit (4), the ankle joint inner side sensing unit (5) and the ankle joint outer side sensing unit (6) are respectively connected with a data processing center, and the data processing center is used for determining a lower limb force line and an included angle of the lower limb force line;
the display module is connected with the data processing center and used for displaying the lower limb force line.
2. The system for measuring the force line angle of the lower limbs according to claim 1, wherein the knee joint fixing frame further comprises a knee joint inner protecting body (8) and a knee joint outer protecting body (9), the knee joint inner protecting body (8) is connected to one side of the knee joint elastic fixing body (1), and the knee joint outer protecting body (9) is connected to the other side of the knee joint elastic fixing body (1);
the knee joint inner side sensing unit (3) is fixed on the knee joint inner protective body (8), and the knee joint outer side sensing unit (4) is fixed on the knee joint outer protective body (9).
3. The system for measuring the force line angle of the lower limbs according to claim 1, wherein the ankle joint fixing frame further comprises an ankle joint inner protecting body (13) and an ankle joint outer protecting body (14), the ankle joint inner protecting body (13) is connected to one side of the ankle joint elastic fixing body (2), and the ankle joint outer protecting body (14) is connected to the other side of the ankle joint elastic fixing body (2);
the ankle joint inner side sensing unit (5) is fixed on the ankle joint inner protecting body (13), and the ankle joint outer side sensing unit (6) is fixed on the ankle joint outer protecting body (14).
4. The system for measuring the force line angle of the lower limbs according to claim 1, wherein the knee joint inner side sensing unit (3), the knee joint outer side sensing unit (4), the ankle joint inner side sensing unit (5) and the ankle joint outer side sensing unit (6) are all internally provided with wireless communication modules, and the wireless communication modules are connected with the data processing center.
5. The system for measuring the angle of the lower limb line of force of claim 4, wherein the wireless communication module is an SPI wireless module.
6. The system for measuring the force line angle of the lower limbs according to claim 1, wherein the type of the knee joint inner side sensing unit (3), the knee joint outer side sensing unit (4), the ankle joint inner side sensing unit (5) and the ankle joint outer side sensing unit (6) is MPU 9250.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114098707A (en) * | 2021-10-29 | 2022-03-01 | 西安交通大学 | Measuring system and measuring method for lower limb force line angle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114098707A (en) * | 2021-10-29 | 2022-03-01 | 西安交通大学 | Measuring system and measuring method for lower limb force line angle |
| CN114098707B (en) * | 2021-10-29 | 2024-08-16 | 西安交通大学 | System and method for measuring angle of lower limb force line |
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