KR880001184B1 - Arrangement of motion module and digitizer - Google Patents

Abstract

An instrumented seat has attached to it a bracket and clamping straps forming a thigh restraint for holding the upper part of the patients leg in a fixed immobile position. An articulated motion module is connected at one end to the seat, and at the other end to a strap fastened to the unrestrained lower part of the patient leg. Transducers in the instrumented seat and in the motion module, measure the forces exerted, and also the dimensional position of a reference point on the patients leg, at all times. The system incorporates both rotary and translational transducers with a dynamometer in the patients seat.

Description

Ondong modul / digitizer combination

1 is a front view of an electrokinetic modulus / digitizer combination according to the present invention.

2 is a side view of the conjugate of the present invention.

Figure 3 is an illustration of the digitizer tips to insert into the receiving tube instead of the protrusion of the present invention.

4 is a sequence table of software for investigating and analyzing the electrical output of the conjugate to achieve the desired result.

5 is a stereoscopic view of a patient diagnosed by a doctor with a knee relaxation assessor attached to practice the present invention.

6 is a side view of the exercise modulus of the present invention in the knee relaxation evaluator and the instrument seat.

7 is a detailed side view of the patient.

8 is a front view of the legs showing the exercise moduls / digitizers attached.

9 is a rear view of the leg showing the electrical goniometer attachment.

* Explanation of symbols for main parts of the drawings

101: extension 103: first end

105: second end 107: first link arm

109: second link arm 111: connecting portion

113: first rotation voltage divider 115: second rotation voltage divider

119: third rotary voltage divider 121: fourth rotary voltage divider

123: fifth rotating voltage divider 127: sixth rotating voltage divider

133: data processing device 203: beam and bearing device

205: second beam and bearing device 211: planar beam

215: linear bushing 217: spherical bearing ()

222: support beam for the beam and suppression 223, 225, 227: detector support frame

214, 243: support block 245: side wall

The present invention relates to modulus / digitizer combinations that can be used in knee relaxation assessors or can be used independently or in other devices.

In more detail, the present invention measures the position or motion of a second point or body relative to the first point or body, or to the position of the coordinate system in three-dimensional space, and likewise the third, fourth, fifth,... A second point or position relative to a point or a body, or a combination capable of measuring various positions of the second body or a combination thereof.

Today, measuring knee relaxation depends only on the physician's subjective assessment of the relative displacement in the knee.

With this diagnosis, damage to the ligaments could be identified by the surgeon as an over-relaxation or joint movement by weight from the outside. The limitations of these techniques are that (a) subjectivity is too high, (b) there are no results and volumes that can be reproduced, (c) there is no knowledge of the forces applied, and (d) only human senses can be evaluated. There is a lot of complex exercise out there that can lead to the loss of important information.

According to the present invention, the knee relaxation evaluator KLE includes an exercise modulus, ie, a modulus measured in three-dimensional space to perform a motion related to a point or a body to which a point or a body is fixed.

Modules of this type are known in the art, for example, in US Pat. No. 3, 944, 798, March 16, 1976 to EATON, November 1977 other than FURNADJIEV. US Pat. No. 4, 057, 806, dated 8, and US Pat. No. 4, 205, 308, May 27, 1980 to HALEY et al. Electrical and electronic digitizers are also known in the art.

For example, one planar digitizer is described in US Pat. No. 3, 956, 588, filed May 11, 1976 to WHETSTONE. However, the position of the first point or body and the third, fourth, fifth,... Of the second body. There is nothing in the art to combine these devices, commonly referred to as modulus and digitizers, that allow measuring the position or motion of a second point or body in relation to a point or position or a combination of points or positions. .

Another object of the present invention is to provide a knee relaxation evaluator device using an exercise modul.

It is a further object of the present invention to provide a combined electronic motion modulus / digitizer combination that can be used in a knee relaxation evaluator or can be used independently or in other devices.

A specific object of the present invention is to measure, in three-dimensional space, the position or motion of a second point or body relative to the first point or the position of the body, and likewise the third, fourth, fifth,. It is to provide a combination that can measure the position or movement of the second point or the body relative to the point, the various positions of the second body or the combination thereof.

According to a unique embodiment of the present invention, the knee relaxation evaluator measures a part of the patient in a seat equipped with an instrument for measuring the force applied to the patient in a non-tight part with a seat equipped with an instrument for seating the patient. It consists of a tightening means for tightening.

The exercise modulus measures the movement of the patient's non-zipped part in relation to the stagnant part, and the processing unit analyzes the output of the instrumented seat and the exercise modul means, It provides an indication of the applied force and motion of the part that is not.

According to the present invention from different aspects the motor modulus / digitizer combination has a first end and a second end and a translational motion between the first end and the second end, with the connecting end of which the first link arm is composed of the second link arm. Means for movably connecting the first link arm to the second link arm to enable the connection, the connecting means being located between the first end and the second end, the means further comprising a first transducer for measuring the translational motion. Means;

A second transducer means is provided at the first end for the three-dimensional rotational movement of the first link arm in relation to the first point or body, and the third transducer means is stereoscopic in the second link arm in relation to the second point or body. It is provided at the second end to measure the rotational movement.

According to the invention, part of the second link arm is detachable from the rest of the second link arm, and the second device means and means can be connected to the remainder of the second link arm.

Therefore, the combination of the means which can be connected with the remaining part of the 1st link arm and the 2nd link arm is 3rd, 4th, 5th ... It can be used to measure the position in space of points or their bonds.

And therefore, when the remaining portion of the link arm is attached back to the portion of the second link arm and the second device means, the position or space in the space of the second point or body relative to the position of the first point or body or the second The third, fourth, fifth, etc. of the body. Measurements can be made to determine the position of the second point or body in relation to the point or position or their combination.

The knee relaxation assessment includes femoral confinement means (7), instrument seats (9), and exercise modulus (11). As can be seen below, the exercise modulus 11 has one end 13 connected to an instrument seat constituting a fixed point or body. The other end 15 is connected to the second point or the body. The purpose of the device 5 is to determine the movement of the second point or body relative to the first point or body in the three-dimensional plane. The instrument seat can be mounted on the examination table 17 and consists of a dynamometer 19 that measures the force applied. Instruments for measuring forces are described in Measurement Systems: Applications and Design, McGraw-Hill, E. O. Doeberin, pages 333-350.

The instrument seat 9 may also have an adjustable seat back device 18 that is well known in the art. The femoral confinement means (7) are secured to each other by the fastening straps (8), two or more pairs of offset belts that allow the thin fabric to rotate around the femur to minimize the movement of the femur in the seat It consists of.

The lower leg attachment consists of a band of annulus 21, for example a Velcro, to which the other end 15 of the exercise module is connected to the connection part 15A provided on the annulus 21.

The attachment of the lower leg acts by placing the motor modulus on the three bone-like projections of the lower leg, i.e., the tibial function 23 and the medial astratum 25 and the lateral astragalus 27, respectively.

The roller 29 matches itself with the outer circumferential surface of the tibial crest 23, and the bowl 31 ′ formed in the astragalus cup 31 flows in the astragalus cup 31 while moving the astragalus cup 31 to the astragalus. Match the outer circumference of the

The bowl 31 ′ and the roller 29 allow the skin to move between the joints of the bones so that the joints 15A can only move together with the bones, which is important for measuring the exact position of the bones. The device also includes a monitor 33 with a microprocessor that receives output from the strainer 19 and the exercise module 11. Thus, the knee relaxation evaluator can detect and measure the burden on the displacement present when using all standard knee evaluation techniques. In addition, this knee relaxation evaluator is capable of handling, facilitating and manipulating joints in the normal procedure while the knee relaxation evaluator accurately records the force applied to the displayed and printed forms and the motion of the tibia thighs. It is designed to minimize the effect of soft thin fabrics.

The reverse plate of the force gauge measures the force and rotational force in the basic direction and allows the physician 3 to know exactly at what stage the knee is being pressed. This is important when measuring relaxation because the bone momentum involved depends on the pressure exerted.

Knowing the degree of force is of paramount importance in objectively determining joint relaxation.

The exercise modulus 11 measures the exact three-dimensional position of the tibia with respect to the seat, thus measuring the position relative to the femur when the thigh is pinched.

The movement modulus 11 is an electromechanical device that works on the principle that at least six measurements are required to fully position the body in space, as will be explained in more detail below.

The motion modulus consists of a means of measuring six times the free three-dimensional motion with respect to one point or another point of the body or the body, and a unique electronic component is provided to measure the rotational or translational displacement if possible. . The special modulus is described next with reference to FIGS. 1 to 3.

Generally speaking, the two points or bodies for which the relative motion is to be measured are connected by an arm of one rigid stretchable material or an arm jointed between its two ends. The force measurement on the strainer 19 is made by the principle of force which reacts against and evenly. The force exerted on the knee of the patient is reacted by the tibia and the femur and is sequentially transmitted to the checker 19. Since the force at the gripping arm 19 is a different arrangement compared to the knee, knowledge of the relative position of the knee and the gripping arm provided by the exercise module 11 provides a theoretical interpretation of the force in the coordinate system of the knee and its expression. To make it possible.

In actual operation, the patient 1 is seated in the instrument seat 9 and the leg thigh in question is pressed as shown in FIG. The connecting portion 15A of the lower leg is then placed on the same leg as shown in the figure and the exercise module 11 is connected between the seat A15 of the lower leg. The physician 3 can then twist the lower leg and receive an output indicating the force applied and the associated displacement.

In Figures 1 to 3, a special exercise module / digitizer combination is shown that can be used with the knee relaxation evaluator.

However, as already mentioned, this combination can be used in other systems or can be used independently.

For example, it can be used in connection with mechanical devices and other mechanical devices that require measuring the displacement of the first point or body in relation to the second point or body.

In order to measure the motion of a body in three-dimensional space, six unique measurements are required in relation to the six degrees of freedom of movement in three-dimensional space. This measurement can be formed of six unique rotational measurements or six unique translational measurements or their combined measurements, namely four rotational measurements, two translational motion measurements, and the like.

The combination of the present invention makes five measurements of rotational motion and one measurement of translational motion.

1 and 2, the assembly includes an extension 101 connecting the first end 103 and the second end 105. The extension 101 is composed of a first link arm 107 and a second link arm 109.

The link arms 107, 109 make associated translational movements, such as the ends 103, 105, between the ends 103, 105, and are joined at the connecting portion 111 to facilitate this translational movement. In the illustrated embodiment, the translating motion is connected to allow the associated translational movement of the first end 103 and the second end 105, and the rotary transducer measures this translational motion as described below. To be used.

As should be clear, other means may be used to connect the link arms 107 and 109 to each other.

For example, a sleeve may be included in one of the link arms to cover the other arm and allow the other arm to move in and out of the sleeve.

A translator can be included in the sleeve to measure the translational motion.

Examples of rotary transducers that can be used include resistive voltage dividers, variable inductance transformers, synchro resolvers, inductance voltage dividers and variable magnetoresistive transducers.

Examples of translational transducers that may be used include dial indicators, resistive voltage dividers, variable inductance transformers, capacitance transducers, piezoelectric transducers, ionization transducers and optical transducers. In describing the illustrated embodiment, rotary and translational potentiometers were used respectively.

Therefore, these are cited from now on. However, it should be appreciated that the translational and rotary potentiometers can be replaced by any of the transducers described above. Arranged at the first end 103 is a first rotary voltage divider 113, which is disposed in line with the first link arm 107 and around the axis at right angles to the first link arm 107. Can be rotated.

The second rotary voltage divider 115 may be disposed at a right angle to the first rotary voltage divider 113 and may rotate around the axis at a right angle to the axis of the first rotary voltage divider 113.

The second rotary voltage divider 115 is mounted on the base 117. Placed at the second end 105 is a third rotary voltage divider 119, which is aligned with the second link arm 109 and rotates about an axis perpendicular to the second link arm 109. The fourth rotary voltage divider 121 may be disposed at a right angle to the third rotary voltage divider 119, and may rotate around the axis at a right angle to the axis of the third voltage divider 119. The fifth total voltage divider 123 may also be disposed at a right angle to the third rotary voltage divider 119 and disposed at a right angle, and may rotate around the axis at a right angle to the axis of the third rotary voltage divider 119. The fifth rotary voltage divider 123 is also perpendicular to the fourth rotary voltage divider 121, and its rotation axis is also perpendicular to the axis of the fourth rotary voltage divider 121. The fifth rotary voltage divider 123 is connected to the base 125 to secure the device at the second point.

In the illustrated embodiment, the link arms 107, 109 are straightened by the arms 107, 109, and are connected by a sixth rotary voltage divider 127 with a rotation axis perpendicular to the arms 107, 109. Is connected).

The device described so far is a motion in the three-dimensional plane of the second end 105 in relation to the first end 103 and vice versa in the three-dimensional plane of the first end 103 in relation to the second end 105. This can be called the exercise modulus.

According to the present invention, the third, fourth, fifth,... Points or bodies (hereafter referred to as points or bodies are used to refer to and should be understood so) provide the potential for digitizing the position or combination of them, and thus the points 103, 105 One of the motions or positions in relation to the other point or in the third, fourth, fifth,... The possibility of measuring in relation to a point or in relation to points of a second body or a combination thereof is provided.

This possibility can be achieved by detaching one of the link arms from its base 117 and 125 and allowing it to connect there again.

In the illustrated embodiment, the link arm 109 can be separated from the base 125. In particular, the protrusion 129 protruded from the third rotary voltage divider 119 can be inserted into the housing tube 131.

The protruding portion 129 can also be removed from the housing tube 131, and the position of another point in the space of another insert as shown in Figs. 3 (a), 3 (b), etc. is counted. It can be inserted into the housing tube 131 to make the. In order to understand how the assembly works, the point of intersection of the axes of the first rotary potentiometer 113 and the second rotary potentiometer 115 is the global starting point (0).

Thus, the voltage dividers 113, 115, and 127 of the first, second, and sixth rotations form a spherical coordinate system around the global starting point (0). In particular, the first and second rotary voltage dividers 113 and 115 each provide a contracted angle θ (ψ), and the sixth rotary voltage divider 127 is the first and second link arms 107 and 109. In combination with, gives the length of longing (R). Since the length of the link arms 107 and 109 is known and the angle between them is known, it is very easy to determine the length of the longitude R.

Point B is formed at the intersection of the axes of the voltage dividers 119, 121 and 123 of the third, fourth and fifth rotations and is considered as the starting point of the "moving body" coordinate system.

To distinguish from it, (0) is regarded as the origin of a "fixed" body or coordinate system.

In particular, the base 125 will be mounted on the moving body.

The base 117 will be mounted on a fixed body or coordinate system and will clarify the movement of the moving body relative to the fixed body or coordinate system by calibrating the movement of the second end 105 relative to the first end 103. . The final angle of the moving body motion falls within three finite rotations provided by each voltage divider 119, 121, 123.

In order to explain how the combination (which combines the protrusion 129 and the receiving tube 131) is used as a digitizer, the protrusion 129 is removed from the receiving tube 131, and the digitizer tip shown in FIG. One of the TIPs is inserted into the storage chamber of the housing tube 131 instead of the protrusion 129. Thus, this tip is associated with several points of interest, namely the third, fourth, fifth,... Pointed to a point and the locations of these various points in three-dimensional space are recorded.

As can be appreciated, a connecting plate which can be wired on the base 117 by the conducting lead-scene from the voltage divider so that the electrical signal from the voltage divider is transmitted to the processing means outlined in the processing apparatus 133 of FIG. Leads to. Of course, as is well known in the art, it would be necessary to provide a direct current in the voltage divider to measure the changing resistance, which may also be provided from the processing device 133.

The voltage divider will provide data to determine the range and direction of motion of point 105. Data should be processed to determine direction and degree. If possible, the data is processed by a computer device. A sequence list for controlling such a computer is shown in FIG.

Three basic subroutines are used for digitization, two of which are shown in the sequence table. A digmat (digital transformation model) and digits (digit digitization) are shown in the sequence table, while a new-tip (support routine for user-defined tips) must be provided by the user and supplied by the user. Consider the size and shape of the tip.

The user must write a program that uses the subroutine in a suitable way to apply it specially, but in all cases the following procedure should be used.

The protrusion 129 is removed from the receiving tube 131 and one of the various tips is inserted into the receiving tube.

The base 117 is easily accessible to most relevant points and should be firmly placed in a position suitable for measuring any movement that follows using the upper and lower parts of the exercise module.

Relationship points are then dotted with tips.

Physical properties are entered into the computer storage device, and then a sign is provided to the computer so as to know which of the digitizer tips was used.

After pinpointing the position, the program must be activated via a remote switch or keyboard input.

Thus, the control program scans the signal of the voltage divider, which in turn calls the subroutine Digmat (DIGMAT) which uses as input the voltage of each voltage divider 113, 115 and 127 as well as the voltage of the power supply.

Digmet outputs the transformation model used in the subroutine digit, which is called and then the subroutine.

Digit actually calculates the position of the digit in the wide coordinate system using the outputs of digmet and DITIP coordinates as inputs in the coordinate system of the sixth rotary voltage divider 127. Thereafter, the output of several points in the global coordinate system, i.e. the output relating to point 0, is provided.

This procedure is repeated until all relevant points have been digitized.

Thus, the tip is removed from the housing tube 131 and the protrusion 129 is inserted into the housing again. Next, a subroutine Loctron (LOCTRN) is called that calculates the coordinates of the various points digitized in the interval coordinate system (i.e., point (B)).

These points are then output to the GLOTRN subroutines described below.

On the other hand, the base 125 would have been attached at that point.

The displacement of this point is made, and the voltage divider signal is scanned once again.

This data is transferred to the computer and the subroutine dismet is called. Dismet calculates the contents of a deformed model that depicts the body in a solid plane.

Subroutine GLOTRN is then called and outputs the new position of previously digitized or analytically generated points on the body in the photometer. This procedure continues as the point of interest moves to a different location. The technical specification of the subroutine is as follows.

Subroutine Digmet (DVOL, DT 12, DT 3)

Explanation

This subroutine calculates the models DT 12 and DT 3 which locate the coordinate system of the 1st rotary voltage divider 113 and the 6th rotary voltage divider 127, respectively.

These two models are entered correctly in the subroutine digits and nu-tips, and are of no importance to the user.

input

The voltage of the subroutine (-DVOL) 4, each voltage divider, that is, the second rotary voltage divider 115, the first rotary voltage divider 113, and the sixth rotary voltage divider 127 and the power supply voltage (Note; 註 1) .

Print

Digmet (-DT12 (3, 3)) and Digmet (DT 3 (3, 3)) are models described above (Note 1).

State

Variable names beginning with "D" in each 1-routine subroutine are doubled in precision.

Subroutine Digit (DT 12, DT 3, DTIP, DPNTRF)

Explanation

This subroutine calculates the coordinates of the digitizer tip relative to the global coordinate system.

input

Diggmet (-DT 12 (3, 3)) and Diggmet (DT 3 (3, 3)) locate the position of each voltage divider, that is, the first rotary voltage divider 113 and the sixth rotary voltage divider 127.

(See Subroutine Digmet) (Note 3)

DTIP (3) is the coordinate of the tip used relative to the coordinate system of the sixth rotating potentiometer 127 (Notes 1, 2, 3).

Print

DRNTRF 3 is the coordinate of the tip relative to the global coordinate system. (Note 2, 3)

State

The coordinates of the 1-digitizer tip are provided as part of the digitizer unit. Use the subroutine new tip (see subroutine NEWTIP) for the coordinates of the user tip.

In a 2-all coordinate arrangement, 1, 2 and 3 are X, Y and Z coordinates respectively [eg DTIP (1) = X coordinates].

All variable names that start with 3-D are doubled.

Subroutine New Tip (NEWTIP) (DT 12, DT 3, DPNTRF, DTIP)

Explanation

The main purpose of this subroutine is to define the coordinates of the user-specified tip in the sixth rotary potentiometer 127 coordinate system without measuring the tip size independently.

Tip To find the perfume, first set tip 1 (see 8b) and touch the dot. Thus, set a new tip and touch the same point. Throughout the software, the coordinates of the point are calculated by the first tip number 1 and used to calculate the nostalgia for the new tip.

(Refer to the control program sequence table).

State

For best results, use a dot within 6-8 inches from the base of the digitizer.

input

Digmet (-DT 12 (3, 3)) and Digmet (DT 3 (3, 3)) locate the coordinate systems of the first rotary potentiometer 113 and the sixth rotary potentiometer 127, respectively. (Note 1 ).

DPNTRF (3): Coordinates of the point digitized by tip # 1 in the global coordinate system (Notes 1 and 2).

Print

DTIP (3): Known as the coordinates of the tip relative to the coordinates of the sixth rotary potentiometer 127, or a new tip term (Notes 1, 2).

State

All variable names beginning with 1-D are doubled.

In a two-coordinate system, 1, 2, and 3 are X, Y, and Z coordinates, respectively.

Subroutine Digmet (DVOL, DMAT 2)

Explanation

Digmet calculates the position of the relevant interval coordinate system in the global coordinate system. The interval coordinate system coincides with the leading edges of the upper expectations.

input

-DVOL (7) Voltage plotting factor (Note 1) of each voltage divider 113, 127, 115, 119, 121, 123 and power line.

Print

-DDMA 2 (4, 3) consists of DMAT 2 (4, 1) and DMAT 2 (4, 2), and DMAT 2 (4, 3) is the coordinate of point B in the global coordinate system.

DMAT 2 (3, 3) determines the position of the relevant interval coordinate system in the global coordinate system (Note 1).

DMAT 2 (4, 3) is only input to the subroutine LOCTRN and GLOTRN and is of no significance to the user.

State

All variable names that begin with 1-D are doubled.

Subroutine Locktron (DMAT 2, DPOINT, DPNTLC, N)

Explanation

LOCKRN calculates the coordinates of the digitized points in the interval coordinate system.

These coordinates do not change as long as the upper base is fixed to the bone or other selected device base.

If the half-day upper expectation is shifted, these coordinates must be recalculated by calling West Routin Locktrn (see control program sequence table).

input

-DMAT 2 (4, 3), from subroutine dismet (see subroutine dismet) (Note 1)

-N is the number of points: integer

-DPOINT (3, N): Coordinates of digitized and fractional points in the global coordinate system (Notes 1 and 2).

Print

DPNTLC (3, N): Coordinates of points in relation to the interval coordinate system (Notes 1 and 2).

State

All variable names beginning with 1-D are doubled.

In a two-coordinate array, 1, 2, and 3 are the X, Y, and Z coordinates, respectively.

Subroutine Groutn (DMAT 2, DPNTLC, DPNGL, N)

Explanation

Groutn calculates the new coordinates of the points in the global coordinate system.

input

-DMAT 2 (4, 3), from subroutine dismet (see subroutine dismet) (Note 1).

-N number of points: integer

The coordinates of the points in the DPNTLC (3, N) coordinate system (Notes 1 and 2).

Print

New coordinates of the points in the DPNTGL (3, N) coordinate system (Notes 1 and 2).

State

All variable names that begin with 1-D are doubled.

In a 2-coordinate array, 1, 2, and 3 are X, Y, and Z coordinates.

Although the detector is referred to, another aspect of the present invention provides a novel detector consisting of a triple beam and a bearing arrangement as shown in FIGS. 10 to 12.

Claims (7)

The first link arm has a first end and a second end, wherein the first link arm comprises an second link arm, and the first link arm includes a second link arm to perform translational motion between the first end and the second end. A connecting portion arranged between the first and second ends, the connecting portion including a first transducer means for measuring translational movement, the first device comprising: a first device in the first point, body or coordinate system; A first end for mounting the first end, and a second device at the second end for mounting the second end at the second point or body, and a second transducer means associated with the first link to the first point or body. At the first end for measuring the steric rotational movement of the arm, and the third transducer means at the second end for measuring the steric rotational movement of the second link arm relative to the second point or body. Part of the rest of the second link arm It is detachable from the two devices, there is a means that can be connected to the rest of the second link arm, the combination of the means that can be connected to the rest of the first link arm and the second link arm is the third, fourth, Fifth,... Can be used to measure position in space of points or combinations thereof, and when the remaining portion of the link arm is attached back to the above described portion of the second link arm and the second device means, the first point, body or coordinate system or first 2rd body 3rd, 4th, 5th,... A movement modulus / digitizer combination, characterized in that a measurement can be made to determine a position or motion in space of a body or a second point related to a point or position or combination thereof. The assembly of claim 1, wherein the first, second and third facets are rotational transducers, the axis of rotation of which is perpendicular to the fore and aft axis of adjacent links of the links and the fore and aft axis of the link passing through the center of rotation. . The method of claim 2 further comprising a fourth rotary transducer disposed at the first end at a right angle to the second transducer, wherein the center of rotation of the fourth rotary transducer coincides with the center of rotation of the second transducer. Conjugates. 4. A converter as claimed in claim 3, comprising a fifth rotary transducer at the second end at a right angle to the third transducer, the center of rotation of which is coincided with the center of rotation of the third transducer. And a rotary shaft of the sixth transducer and the third transducer, including a sixth rotary deflector perpendicular to the transducer. The assembly of claim 4 wherein the first device means is attached to the fourth transducer and the second device means is attached to the sixth transducer. A converter as claimed in claim 5, comprising a data processing device, said conducting means leading from the first, second, third, fourth, fifth, sixth, transducer to the data processing device. A combination from which signals from can be analyzed by a data processing device. The first link arm has a second end, the first link arm having a second end, and the first link arm comprises a second link arm so that the first link arm can perform a translational motion between the first end and the second end. Wherein the connecting portion for connecting is arranged in between the first and second ends and comprises a first transducer means for measuring the translational movement, the first device means being a first point. , At the first end for measuring the first end in the body or coordinate system, the second device means at the second end for mounting the second end in the second point or body, and the second transducer means at the first point. Or at the first end to measure the three-dimensional rotational movement of the associated first link arm in the body, and the third transducer means at the second end or the second-end to measure the three-dimensional rotational movement of the associated second link arm in the body. Part of the second link arm Is detachable from the rest of the second link arm and the second device means, and has a means connectable to the rest of the second link arm, such that a combination of means connectable with the rest of the first link arm and the second link arm The third, fourth, fifth,... A point or body or second when the rest of the link arm is reattached to the above-mentioned part of the second link arm and the second device means. Third, fourth, fifth,... Of the body; Using a warm modulus / digitizer device comprising a motion modulus / digitizer combination, characterized in that it can be measured to determine a position or motion in space of a body or a second point associated with a point or a combination thereof. The position or motion of the second point relative to the position of the first point in the three-dimensional space is measured, and the third, fourth, fifth,... A method for measuring the position or motion of a second point relative to a point or position or combination thereof, 1) 3rd, 4th... Separate the link arms to locate a point or their location in space 2) The above-mentioned link arm may be connected to the first point or the body, and the third, fourth,... Rejoining to monitor the motion of the second point or body relative to the point or location or combination thereof.

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