CN105559884A - Method and system for acquiring pelvis posture in total hip replacement operation - Google Patents
Method and system for acquiring pelvis posture in total hip replacement operation Download PDFInfo
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- CN105559884A CN105559884A CN201610079471.5A CN201610079471A CN105559884A CN 105559884 A CN105559884 A CN 105559884A CN 201610079471 A CN201610079471 A CN 201610079471A CN 105559884 A CN105559884 A CN 105559884A
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- hip replacement
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/32—Joints for the hip
- A61F2/34—Acetabular cups
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/46—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor
- A61F2/4603—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof
- A61F2/4609—Special tools or methods for implanting or extracting artificial joints, accessories, bone grafts or substitutes, or particular adaptations therefor for insertion or extraction of endoprosthetic joints or of accessories thereof of acetabular cups
Abstract
The invention provides a method and system for acquiring a pelvis posture in a total hip replacement operation. Before the operation, a pelvis static measuring device is used for measuring a front plane of an initial static pelvis to determine an initial posture of the pelvis; during the operation, the initial posture is adopted as a reference, and a pelvis dynamic measuring device is aligned with the pelvis to measure the pelvis posture during the operation in real time. The pelvis static measuring device and the pelvis dynamic measuring device are provided with identical measuring modules, and data acquisition modules are arranged in the measuring modules and comprise motion sensors. The system can be divided into the data acquisition modules, a data processing module and a data transmission module according to functions and can be divided into the pelvis static measuring device and the pelvis dynamic measuring device according to constituent parts, the devices are provided with sensors, sensor data is transmitted to a computer terminal in real time, the pelvis posture is calculated and displayed on the computer, the pelvis posture can be acquired in real time, and the acquired pelvis posture serves as a reference of the hip replacement operation.
Description
Technical field
The invention belongs to medical electronic technical field, particularly a kind of total hip replacement operation midpelvis attitude acquisition method and system.
Background technology
From the sixties in last century, artificial joint replacement develops gradually in China, becomes the Gospel of countless patients with joint diseases.For hip replacement, its first-selected indication is osteoarthritis, other is followed successively by aseptic necrosis of bone (as femur head necrosis etc.), some Hip Fracture (as fracture of femoral neck), rheumatoid arthritis, traumatic arthritis, optimum and malignant bone tumor, ankylosing spondylitis etc., be widely used, for patient relieves misery.Along with the aging of population, Osteoarthritis quantity is up-trend, and the prosthetic replacement's operation carried out every year also gets more and more.
An importance of hip replacement to guarantee the suitable aligning of acetabular component relative to pelvis.Research shows that acetabular component is not suitably aimed at pelvis and premature abrasion, tendency dislocation and patient will be caused uncomfortable.But what surgeon faced now is how to realize suitable acetabular component to implant aligning about greatest problem in artificial hip joint replacing operation.
It is angle of splay and top rake that acetabular component implants most important two angles.Usually in unification among plastic surgeon is that acetabular component is implanted the desirable anatomical position (being be in angle of splay 45 °, top rake 20 ° for most patient) be positioned in the primary skeleton of host's acetabular bone.But the measurement of these special angles and the placement of prosthese, only with doctors experience, be difficult to realize accurate storing, and these desired angle are for the pelvis of patient, and patient are covered by aseptic operation list in the process of hip replacement surgery.Any position of patient's pelvis and the change of attitude cannot be arrived by Real Time Observation in operation process, only place acetabular component with surgical experience and can bring larger error.
Summary of the invention
In order to overcome the shortcoming of above-mentioned prior art, the object of the present invention is to provide a kind of total hip replacement operation midpelvis attitude acquisition method and system, can when hip replacement carries out, simulate real-time pelvis attitude exactly, make doctor can place acetabular component relatively accurately in operation process, substantially increase success rate and the operative effect of hip replacement.
To achieve these goals, the technical solution used in the present invention is:
A kind of total hip replacement operation midpelvis attitude acquisition method, wherein:
In the preoperative, utilize pelvis static measuring devices, by measuring initial static pelvis frontal plane determination pelvis initial attitude;
In art, with this initial attitude for benchmark, pelvis dynamic measurement device is alignd with pelvis, realize the real-time measurement of art midpelvis attitude;
Wherein, described pelvis static measuring devices and pelvis dynamic measurement device have identical measurement module, are provided with data acquisition module in described measurement module, and described data acquisition module comprises motion sensor.
Described motion sensor obtains pelvis attitude data, is sent wirelessly by the attitude data of acquisition, utilizes radio receiver receive this data signal and process on computers, finally demonstrates the real-time attitude data of pelvis.
A kind of total hip replacement operation midpelvis attitude obtains system, comprising:
For measuring the pelvis static measuring devices of pelvis initial attitude;
For measuring the pelvis dynamic measurement device of the real-time attitude of pelvis according to pelvis initial attitude;
Wherein, be provided with pelvimetry module in pelvis static measuring devices and pelvis dynamic measurement device, described pelvimetry module comprises data acquisition module, and described data acquisition module comprises motion sensor.
Described pelvis static measuring devices comprises fixed pedestal 1 and fixed pedestal 26, fixed pedestal 1 and fixed pedestal 26 are provided with swingle 1, what indicate scale 3 can stretch 4 be connected between two swingles 1, and pelvimetry module 1 is installed at the top of one of them swingle 1.
Described pelvis dynamic measurement device comprises pelvimetry module 2 11 and the pin 12 for pelvimetry module 2 11 being fixed on pelvic planes.
Described pelvimetry module 1 is consistent with pelvimetry module 2 11 structure, all comprises containment vessel 21, arranges motion sensor 22 in containment vessel 21, and described motion sensor 22 comprises three axis accelerometer, three-axis gyroscope and three axle magnetometers.
Described total hip replacement operation midpelvis attitude obtains system and also can comprise:
, for there is relief area by the data of motion sensor collection in data processing module;
Data transmission module, for being sent to extracorporeal treatment device by the frame data in described relief area;
Extracorporeal treatment device, receives the data that described data transmission module sends, and extracts exercise data, obtains the real-time attitude of hip replacement surgery midpelvis.
Described data processing module is realized by a MCU; Described data transmission module adopts wifi mode data to be sent outside, and described extracorporeal treatment device is computer.
Described extracorporeal treatment device comprises:
For the data from data transmission module being disassembled the data extraction module into acceleration information, geomagnetic data and angular velocity data;
For carrying out the attitude measuring and calculating module of pelvis static and dynamic Status according to the data obtained;
Calculating for showing attitude measuring and calculating module the attitude data obtained, facilitating surgeon to carry out the display module of hip replacement surgery better.
Use of the present invention, will greatly reduce doctor and carry out the difficulty of total hip replacement operation, improve success rate of operation and curative effect.
Accompanying drawing explanation
Fig. 1 is product and the frame for movement schematic diagram of system of the present invention.
Fig. 2 is pelvic structures figure.
Fig. 3 is the hardware capability block diagram of system of the present invention.
Fig. 4 is the software functional block diagram of system of the present invention.
Detailed description of the invention
Embodiments of the present invention are described in detail below in conjunction with drawings and Examples.
The invention provides a kind of replacement of total hip midpelvis attitude acquisition method and system, when total hip replacement operation is carried out, pelvis attitude can be recorded in real time, carry out operation technique to surgeon and bring convenience.
A kind of example product schematic diagram of the present invention as shown in Figure 1, shown in its center II, device is pelvis static measuring devices, for measuring static pelvis frontal plane and pelvis initial attitude, comprise fixed pedestal 1 and fixed pedestal 26, fixed pedestal 1 and fixed pedestal 26 are provided with swingle 1, what indicate scale 3 can stretch 4 be connected between two swingles 1, and pelvimetry module 1 is installed at the top of the swingle 1 wherein on fixed pedestal 26.
Shown in frame I, device is pelvis dynamic measurement device, comprises pelvimetry module 2 11 and the pin 12 for pelvimetry module 2 11 being fixed on pelvic planes.
Frame III is the enlarged drawing of pelvimetry module 1 and pelvimetry module 2 11; pelvimetry module 1 is consistent with pelvimetry module 2 11 structure; all comprise containment vessel 21; arrange motion sensor 22 and some other necessary element in containment vessel 21, motion sensor 22 comprises three axis accelerometer, three-axis gyroscope and three axle magnetometers.
For ensure following describe clear, simply introduce pelvic structures now, see Fig. 2.In figure, characteristic point A is pubic symphysis, and characteristic point B and C is respectively right side anterior superior iliac spine and left side anterior superior iliac spine.Measure the attitude that namely pelvis attitude measures the pelvis frontal plane of 3 compositions thus.
According to above structure, below for doctor uses the operating process of the present embodiment in full marrow joint replacement surgery:
Step 1. doctor is downright bad by patient's acetabular bone, disease part is worn;
Battery loads in pelvimetry module 1 and (powers on) by step 2., patient is placed in a certain comfortable position, and ensures that its pelvis frontal plane can put by location;
The fixed pedestal 1 of pelvis static measuring devices is placed in pubic symphysis by step 3. doctor, by adjusting the length of stretch, make device length meet patient's pelvimetry demand (as: make the distance between fixed pedestal 1 and fixed pedestal 26 equal right side anterior superior iliac spine and pubic symphysis between distance), and the fixed pedestal 26 of the measuring device other end is placed in right side anterior superior iliac spine;
Step 4. doctor opens computer and corresponding program, now can record the attitude of pelvimetry module 1 at anterior superior iliac spine place, right side, by the attitude of record of keys now pelvimetry module 1.Swingle 1 pivots to anterior superior iliac spine place, left side, records the attitude of this place's measurement module 1 equally.Concrete principle is as follows:
(1) record the attitude of dynamic measurement device C-A and B-A place measurement module 1 in fig. 2 respectively, be expressed as euler1 and euler2 by Eulerian angles.
(2) angle by recording in (1), calculates the vector value of x-axis in world coordinate system of corresponding measurement module 1
with
will
with
carry out multiplication cross, obtain the normal vector of coronalplane (parallel with pelvis frontal plane)
(3) angle by recording in (1), calculates the vector value of y-axis in world coordinate system of corresponding measurement module 1
with
will
with
carry out multiplication cross, obtain sagittal normal vector
(by left-to-right, the C → B namely in Fig. 2).
(4) obtain
with
namely the attitude of pelvis is obtained.
Step 5. doctor takes off pelvis static measuring devices, pelvis dynamic measurement device and step 4 is measured the pelvis initial attitude obtained and aligns, and be fixed in a certain characteristic point by the pin 12 of pelvis dynamic measurement device, as anterior superior iliac spine B place, right side.
Patient can be placed in the attitude of being convenient to carry out operation technique by step 6. doctor, owing to pelvis dynamic measurement device and pelvis being fixed by step 5, thus can record pelvis attitude in real time.
The real-time attitude of pelvis that step 7. doctor records according to step 6 places acetabular bone, acetabular bone should place same measuring device, so that go out the angle of acetabular bone relative to pelvis by reference to pelvis Attitude Calculation.
The functional realiey of the present embodiment mainly comprises hardware and software two parts.The pelvimetry module that hardware components is mainly above-mentioned, it realizes principle as shown in Figure 3.Be divided into data acquisition module (sensor assembly), date processing and data transmission module by function, the circuit realizing these functions is all arranged in pelvimetry module.
The following describes this hardware components workflow:
Step 1. battery is to each module for power supply;
Step 2. data processing module is realized by MCU, starts after the power-up to be configured motion sensor;
The each sensor of step 3. starts image data, and motion sensor is sampled to 3-axis acceleration, angular velocity, geomagnetic field intensity with 50HZ frequency;
The data of motion sensor collection are stored in relief area by step 4. data processing module;
After step 5. data acquisition, data are sent with wireless (wifi) pattern;
After step 6. is sent completely, jump to step 3, be cycled to repeat.
Realize in the main processor in vitro of software section of the present embodiment, computer as shown in Figure 4.Data extraction module, attitude can be divided into calculate module, attitude display module three parts by function, as shown in Figure 4.Software is arranged on external computer, is below the workflow of software:
Step 1. data acquisition phase, computer receives the blended data that hardware transmits, and is split as acceleration information, geomagnetic data and angular velocity data;
Step 2. static attitude is measured, and determines the corner around vertical axis, determine around two trunnion axis corners, and then obtain static attitude data by 3-axis acceleration data according to three axle geomagnetic datas;
Step 3. is attitude measurement dynamically, and can carry out dynamic attitude detection according to three axis angular rate data, its ultimate principle is that three axis angular rate data are carried out integration, obtains the anglec of rotation around each axle;
Step 4. carries out data fusion, the Kalman filtering namely in Fig. 4 by being resolved the data obtained by static attitude with the data obtained by angular velocity integration, can obtain the dynamic attitude data of final pelvis;
Step 5. by the attitude data finally obtained so that the mode of intuitivism apprehension shows.
After above-mentioned software work completes, doctor can guarantee that manual acetabulum is arranged on suitable angle, and then avoids premature abrasion, tendency dislocation and patient uncomfortable.
Claims (10)
1. a total hip replacement operation midpelvis attitude acquisition method, is characterized in that,
In the preoperative, utilize pelvis static measuring devices, by measuring initial static pelvis frontal plane determination pelvis initial attitude;
In art, with this initial attitude for benchmark, pelvis dynamic measurement device is alignd with pelvis, realize the real-time measurement of art midpelvis attitude;
Wherein, described pelvis static measuring devices and pelvis dynamic measurement device have identical measurement module, are provided with data acquisition module in described measurement module, and described data acquisition module comprises motion sensor.
2. total hip replacement operation midpelvis attitude acquisition method and system according to claim 1, it is characterized in that, described motion sensor obtains pelvis attitude data, the attitude data of acquisition is sent wirelessly, utilize radio receiver receive this data signal and process on computers, finally demonstrate the real-time attitude data of pelvis.
3. total hip replacement operation midpelvis attitude obtains a system, it is characterized in that, comprising:
For measuring the pelvis static measuring devices of pelvis initial attitude;
For measuring the pelvis dynamic measurement device of the real-time attitude of pelvis according to pelvis initial attitude;
Wherein, be provided with pelvimetry module in pelvis static measuring devices and pelvis dynamic measurement device, described pelvimetry module comprises data acquisition module, and described data acquisition module comprises motion sensor.
4. total hip replacement operation midpelvis attitude obtains system according to claim 3, it is characterized in that, described pelvis static measuring devices comprises fixed pedestal one (2) and fixed pedestal two (6), fixed pedestal one (2) and fixed pedestal two (6) are provided with swingle (1), what indicate scale (3) can stretch (4) be connected between two swingles (1), and pelvimetry module one (5) is installed at the top of one of them swingle (1).
5. total hip replacement operation midpelvis attitude obtains system according to claim 4, it is characterized in that, described pelvis dynamic measurement device comprises pelvimetry module two (11) and the pin (12) for pelvimetry module two (11) being fixed on pelvic planes.
6. total hip replacement operation midpelvis attitude obtains system according to claim 5; it is characterized in that; described pelvimetry module one (5) is consistent with pelvimetry module two (11) structure; all comprise containment vessel (21); arrange motion sensor (22) in containment vessel (21), described motion sensor (22) comprises three axis accelerometer, three-axis gyroscope and three axle magnetometers.
7. total hip replacement operation midpelvis attitude obtains system according to claim 3, it is characterized in that, also comprises:
, for there is relief area by the data of motion sensor collection in data processing module;
Data transmission module, for being sent to extracorporeal treatment device by the frame data in described relief area;
Extracorporeal treatment device, receives the data that described data transmission module sends, and extracts exercise data, obtains the real-time attitude of hip replacement surgery midpelvis.
8. total hip replacement operation midpelvis attitude obtains system according to claim 7, and it is characterized in that, described data processing module is realized by a MCU; Described data transmission module adopts wifi mode data to be sent outside, and described extracorporeal treatment device is computer.
9. according to claim 7 or 8, total hip replacement operation midpelvis attitude obtains system, and it is characterized in that, described extracorporeal treatment device comprises:
For the data from data transmission module being disassembled the data extraction module into acceleration information, geomagnetic data and angular velocity data;
For carrying out the attitude measuring and calculating module of pelvis static and dynamic Status according to the data obtained;
Calculating for showing attitude measuring and calculating module the attitude data obtained, facilitating surgeon to carry out the display module of hip replacement surgery better.
10. total hip replacement operation midpelvis attitude obtains system according to claim 9, it is characterized in that, described extracorporeal treatment device is according to three axle geomagnetic datas in pelvis static measuring devices, determine the corner around vertical axis, determine around two trunnion axis corners by 3-axis acceleration data, and then obtain static attitude data; Described extracorporeal treatment device carries out dynamic attitude detection according to three axis angular rate data in pelvis dynamic measurement device, its ultimate principle is that three axis angular rate data are carried out integration, obtain the anglec of rotation around each axle, data fusion is carried out with the data obtained by angular velocity integration by being resolved the data obtained by static attitude, i.e. Kalman filtering, thus obtain the dynamic attitude data of final pelvis.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106880425A (en) * | 2017-04-10 | 2017-06-23 | 清华大学 | Total hip replacement operation midpelvis attitude and prosthese setting angle acquisition methods and system |
| CN108283561A (en) * | 2018-01-29 | 2018-07-17 | 北京大学深圳医院（北京大学深圳临床医学院） | Real-time monitoring device and method for the displacement of hip replacement midpelvis |
| CN112971983A (en) * | 2021-02-03 | 2021-06-18 | 广州导远电子科技有限公司 | Attitude data measuring method and device, electronic equipment and storage medium |
| CN113456254A (en) * | 2021-08-05 | 2021-10-01 | 电子科技大学 | Hip socket anteversion angle and abduction angle measuring system and method in hip joint replacement |
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| CN113456254A (en) * | 2021-08-05 | 2021-10-01 | 电子科技大学 | Hip socket anteversion angle and abduction angle measuring system and method in hip joint replacement |
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