CN111616845A - A positioning measuring device and measuring method for hip replacement surgery - Google Patents

Abstract

The invention provides a positioning measurement device and measurement method for hip replacement surgery, which uses a high-precision sensor and a high-performance microprocessor to measure, so as to solve the problems of manual error and body position error in ruler measurement; The supporting tool is installed and fixed on the anterior superior iliac spine of the patient's hip pelvis to measure with the movement of the pelvis. The measurement target is the patient itself, so as to reduce the influence of the patient's standing posture on the data. The invention makes the operation more flexible. On the one hand, the operation plan is planned in advance according to the specific situation of the patient, and the supine position and the lateral position can be selected; Comparison and verification to achieve better clinical efficacy and reduce the chance of secondary surgery. The present invention is based on the three-dimensional motion data model, and accurately obtains the position plane of the coronal plane of the human body according to the three-dimensional motion data, so that the angle processing is more accurate.

Description

A positioning measuring device and measuring method for hip replacement surgery

technical field

The invention belongs to the field of medical instruments, and in particular relates to a positioning measuring device and a measuring method for hip replacement surgery.

Background technique

Total hip arthroplasty is a new type of operation that has appeared in recent years. On the basis of traditional total hip arthroplasty, through the improvement of the surgical approach, operation method and operation tools, in a relatively small incision (5 ~ 10cm) to complete the installation and replacement of the hip prosthesis. The goal of total hip arthroplasty is to reconstruct a stable, weight-bearing and functionally functional long-term hip joint. With the improvement of joint prostheses and the advancement of surgical techniques, it is no longer a problem for the prosthesis to survive in the body for 10-20 years. However, the current joint replacement patients are showing a younger trend, which puts forward higher requirements for the service life of the joints. For the same joint prosthesis, different placement positions and angles will bring about different stress conduction patterns. Only accurate reconstruction of the hip joint can obtain the maximum service life.

The core part of the artificial joint prosthesis is the friction interface, which is composed of two friction pairs: one is the inner lining, which is commonly made of polyethylene, high cross-linked polyethylene, ceramic, metal and other materials; the other is the ball head, The most common ones are metals and ceramics, and there are also some composite materials, such as black crystals. Other parts that make up a set of hip joints are the acetabular cup and femoral stem, which are both designed to hold the friction pair in place. Neither the ceramic lining nor the polyethylene lining can directly grow into the bone, so it is necessary to design a metal outer cup bearing lining to allow bone ingrowth on the surface of the outer cup. Similarly, the femoral stem also plays the role of bearing the femoral head. On the other hand, the installation angle and position of the hip prosthesis also have a crucial impact on the prosthesis life and clinical function. Poor installation position of the acetabular prosthesis can lead to prosthesis dislocation, impingement edge, increased wear and joint range of motion. Variety.

At present, most of the following problems exist after hip replacement: 1. The initial stability of the acetabular prosthesis is not achieved, resulting in loosening of the acetabulum; 2. The anteversion angle of the acetabular cup is too large or the abduction angle is too large, which leads to wear; 3. An acetabular cup is installed too deep or too shallow resulting in an unstable fit. Most of these problems are caused by inaccurate positioning measurements during surgery. According to literature reports, the safe acetabular placement angle is the abduction angle AI (the angle between the acetabular axis and the long axis of the body) of 30° to 50°, the anteversion angle AA (the projection of the acetabular axis on the body cross-section and the The angle between the transverse axes of the body) 5° to 25° is the reference of most joint surgeons. The anatomical acetabular abduction angle of adults in Guangxi, China is about 50°. Studies have shown that the reconstruction of the acetabular abduction angle between 45° and 55° can maximize the recovery of hip function and hip joint mobility, while reducing the friction interface. wear and prosthesis loosening rates.

In the prior art, in order to obtain the patient's abduction angle and anteversion angle, an individualized template is designed and produced preoperatively according to the three-dimensional digital model of the patient's CT data and characteristic bony landmarks, and the actual bone structure of the patient is converted into an individualized template. The reference area is integrated into the template, which is equivalent to marking the template, which facilitates the accurate identification and registration of the template and the bone structure. Then, the anteversion angle of the patient is obtained by using the ruler measurement in the CT image captured by the bottom of the patient's foot; the patient's abduction angle is calculated using the ruler measurement in the CT image captured from the front of the patient. During the operation, use the corresponding acetabular angle to install the handle, and cooperate with the doctor's rich surgical experience to install the acetabular prosthesis.

However, the above-mentioned positioning measurement scheme of the prior art has the following shortcomings: 1. The measurement data method is measured by a ruler, and there will inevitably be manual errors and body position errors; 2. The target of the measurement is the CT light film of the patient, and the patient's standing posture The impact on the data is very large; 3. The establishment of the plan is based on a two-dimensional plane, and there is an error in the establishment of the three-dimensional data of the patient; 4. There will also be errors in the planning before surgery and the actual operation during the operation. There is no actual measurement reference object, but the swing angle of the tool is directly observed visually with the tool. If there is a large error, a second operation may be required; 5. There is no dynamic 3D data to verify the plan, and the patient's acetabular movement affects the knee joint. Deformity establishment is very important.

SUMMARY OF THE INVENTION

In view of the above-mentioned defects of the prior art, the purpose of the present invention is to provide a positioning measurement device and measurement method for hip replacement surgery, which uses high-precision sensors and high-performance microprocessors for measurement, in order to solve the problem of the existence of scales. The problem of manual error and body position error; with the help of the corresponding supporting tools, it is installed and fixed on the anterior superior iliac spine of the patient's hip joint pelvis to measure with the pelvis movement. The measurement target is the patient itself, so as to reduce the influence of the patient's standing posture on the data. The invention makes the operation more flexible. On the one hand, the operation plan is planned in advance according to the specific situation of the patient, and the supine position and the lateral position can be selected; Comparison and verification to achieve better clinical efficacy and reduce the chance of secondary surgery. The present invention is based on the three-dimensional motion data model, and accurately obtains the position plane of the coronal plane of the human body according to the three-dimensional motion data, so that the angle processing is more accurate.

In order to achieve the above object, on the one hand, the present invention provides a positioning measurement device for hip replacement surgery, comprising:

At least two locator modules, namely the reference locator module and the measurement locator module, are used for real-time measurement and outputting its position information data;

a pelvis calibrator for locating the pelvis for calibrating the locator module;

a reference locator for fixing the reference locator module;

The intelligent terminal is used for receiving and processing the position information data of the locator module, so as to obtain and display in real time the data of the abduction angle and the anteversion angle used to indicate the orientation of the acetabular fossa section.

Further, the locator module includes a casing and a circuit board; the circuit board includes a power supply, a microprocessor, a motion sensor and a wireless communication module.

Further, the power source is a button battery.

Further, the circuit board also includes a power switch, and the power switch is a mechanical self-locking switch (ie a physical switch, a switch not controlled by software), preferably a push switch.

Further, the microprocessor is an embedded programmable controller, such as FPGA, CPLD, single-chip microcomputer, etc., which is used for analyzing and processing data and controlling other modules on the circuit board.

Further, the motion sensor includes:

An accelerometer, used to measure acceleration;

a gyroscope to measure angular velocity; and

Magnetometer, used to measure the strength of magnetic force.

Further, the accelerometer is a three-axis accelerometer, which can output accelerations of three axes of X, Y, and Z; the gyroscope is a three-axis gyroscope, and can output the angular velocity of three axes of X, Y, and Z; The magnetometer is a three-axis magnetometer, which can output the magnetic force intensities of the three axes of X, Y, and Z.

Further, the wireless communication module is selected from one of Bluetooth, WiFi, Zig-Bee or mobile network communication modules, preferably a Bluetooth module.

Further, the pelvis calibrator is T-shaped and includes a horizontal bar and a vertical bar substantially perpendicular to the horizontal bar.

Further, the lengths of the horizontal bars and the vertical bars are adjustable.

Further, the cross bar has a holder for fixing the locator module.

Further, the reference locator includes a reference fixing pin and a reference locating arm connected thereto, and one end of the reference locating arm has a holder for fixing the reference locator module.

Further, the angle of the reference positioning arm relative to the reference fixation peg is adjustable.

Further, the intelligent terminal is an integrated electronic device integrated with a wireless receiving module, a data processing module and a display module, such as a desktop computer, a notebook computer, a tablet computer or a smart phone and other intelligent terminals with functions of data reception, processing and display. .

On the other hand, the present invention provides a method for measuring using the above-mentioned positioning measuring device in hip replacement surgery, comprising the following steps:

Step 1. Perform orientation calibration and six-sided calibration on the two locator modules;

Step 2. Drive a reference fixation pin on the outer side of the acetabular fossa along the acetabular surgical incision;

Step 3. Select any one of the two locator modules as the reference locator module, and install the reference locator module on the holder of the pelvis calibrator;

Step 4. Adjust the cross bar of the pelvis calibrator to the same length according to the size of the anterior superior iliac spine on both sides of the patient, so that the two ends of the cross bar are located at the anterior superior iliac spines on both sides of the patient, and place the vertical bar of the pelvic calibrator. Adjust the lower end to the pubic symphysis position of the patient, and perform the reference locator module calibration while keeping the pelvis calibrator stable and not shaking, and obtain the attitude angle data as the initial pelvic data of the patient. After the calibration of the reference locator module is completed, remove the pelvic calibrator and reference locator module;

Step 5. Install the calibrated reference locator module on the holder of the reference locator, adjust the reference locator arm of the reference locator to an appropriate angle and fix it;

Step 6. Select the other one of the two locator modules as the measurement locator module, and install the measurement locator module on the holder of the pelvic calibrator;

Step 7. Place the two ends of the horizontal bar of the pelvic calibrator on both sides of the patient's anterior superior iliac spine, and place the lower end of the vertical bar on the patient's pubic symphysis, and measure the locator without the pelvic calibrator shaking. The module is calibrated, the attitude angle data is obtained, and the pelvis calibrator and the measurement locator module are removed after the calibration of the measurement locator module is completed;

Step 8. Install the calibrated measuring locator module on the holder of the acetabular guide, install the acetabular guide in the polished acetabular fossa, and adjust the direction of the acetabular guide. Display the current abduction and anteversion data;

Step 9. According to the real-time angle data displayed by the smart terminal, the acetabular prosthesis is inserted, and the data of the abduction angle and the anteversion angle will be updated in real time for each tapping, so as to help the doctor to install the prosthesis more accurately.

)、俯仰角(Pitch，表示为θ)和方位角(Yaw，表示为ψ)，通过这三个角度可以描述空间中物体的准确姿态。The above attitude angle data includes the roll angle (Roll, usually expressed as φ or

), the pitch angle (Pitch, denoted as θ) and the azimuth angle (Yaw, denoted as ψ), through which the accurate attitude of the object in space can be described.

The relevant algorithms involved in the above acquisition of attitude angle, abduction angle and anteversion angle data are as follows:

A, magnetometer error correction

The three-axis non-orthogonal, three-axis sensitivity asymmetry, zero point offset and other phenomena existing in the magnetometer will cause errors in the output of the magnetometer, and the present invention corrects the errors by establishing a mathematical compensation model.

As shown in Figure 1, assuming that the three-axis (OX, OY, OZ) sensitivity of an ideal magnetometer is symmetrical and completely orthogonal, the actual three-axis (OX', OY', OZ') of the actual magnetometer has the following correspondence with the ideal three-axis : The coordinate axes OZ and OZ' are coincident, and the coordinate planes YOZ and Y'OZ' are coplanar. Let the angle between OY and OY' be β, the angle between OX' axis and XOZ be γ, and the angle between OX axis and X'OZ The included angle of ' is α, the actual magnetometer output value and the ideal magnetometer output value can be expressed by formula (1):

R是一个3×3的上三角矩阵，是磁力计矢量值从理想正交坐标系转换为非正交坐标系的表达，

O是信号放大电路中的零点漂移、静态测量噪声等引起的偏移分量，

where S is a diagonal matrix representing the sensitivity coefficients,

R is a 3×3 upper triangular matrix, which is an expression of the transformation of the magnetometer vector values from an ideal orthogonal coordinate system to a non-orthogonal coordinate system,

O is the offset component caused by zero drift, static measurement noise, etc. in the signal amplifier circuit,

Perform inverse transformation on Equation (1) to obtain the correction model for the correction error:

in,

Considering that the error between the actual coordinate axis and the ideal coordinate axis is only between 0° and 1°, the following approximations can be made: cosα≈1, cosβ≈1, cosγ≈1, sinα≈α, sinβ≈β, sinγ ≈γ, sinβsinγ≈0, so the correction model can be simply expressed as:

According to formula (3), the neural network structure is designed to estimate 9 parameters. As shown in Figure 2, the neural network structure includes 3 layers: input layer (4 nodes), hidden layer (3 nodes), output layer (1 nodes), the output of the neural network is expressed as:

M is the ideal output value of the magnetometer, therefore, the error between the actual output value and the ideal value can be obtained,

Let ω = [α, β, γ, S _x , S _y , S _z , b _x , by _y , b _z ] represent the 9 parameters of the neural network, using the error back propagation method for neural network training, learning The rate a is set between 0.01 and 0.1, and the parameters are updated by using partial derivatives.

The initial values of the parameters are set as b _x =by =b _{z =} 0, α=β=γ=0, S _x =S _y =S _z =0. The actual values of 15 magnetometers in all directions are randomly collected in the horizontal plane as training samples, and the squared error of the training samples is defined as the objective function of the neural network:

When the value of the objective function J is less than the iteration stop condition ε, the neural network reaches convergence and the parameter training ends. Substitute the value into equation (3) to obtain the corrected ideal magnetometer output value.

B, attitude angle conversion

The basic working principle of the magnetometer is as follows: let the data of the ideal magnetic components of the three axes of the magnetometer be [M _bx , M _by , M _bz ], and the roll and pitch angles of the carrier (ie the locator module) are φ and θ respectively. , then there are:

X _h =M _bx ×cosθ+M _by ×sinφ×sinθ+M _bx cosφ×sinθ

Y _h =M _by ×cosφ-M _bz ×sinφ

Among them, X _h is the component of the magnetometer on the X axis in the horizontal direction, and Y _h is the component of the magnetometer on the Y axis in the horizontal direction, as shown in FIG. 3 .

According to the two components obtained above, the magnetic azimuth angle ψ _M0 is calculated according to the following formula:

180°-arctan(Y _h /X _h ) X _h <0, Y _h <0

arctan(Y _h /X _h ) X _h >0, Y _h <0

360°-arctan(Y _h /X _h ) X _h > 0, Y _h > 0

180°+arctan(Y _h /X _h ) X _h <0, Y _h >0

90° X _h = 0, Y _h <0

270° X _h = 0, Y _h > 0

C. Obtain spatial coordinates and motion trajectories

Integrate the acceleration to obtain the instantaneous speed of the target object (ie the locator module) (take the component on the X axis as an example) as:

Among them, a _x [t] is the acceleration on the X-axis at time t, Δt is the sampling period, and the corresponding instantaneous motion speed can be obtained by similar calculations for the other two axes.

Integrate the motion speed to get the motion displacement of the target object (take the component on the X axis as an example):

In the time period, the spatial motion displacement of the target object is:

Then the spatial coordinates of the target object at the moment are: (s _x [t], s _y [t], s _z [t]). In the three-dimensional coordinate system, the corresponding spatial coordinate point in the time period is the motion trajectory of the target object.

D. Filter out offset components caused by spatial flipping

θ、γ，所以重力加速度在加速度传感器x、y、z轴的分量分别为：In the process of tracking the target object (that is, the locator module), there will be a space flip, and the acceleration of gravity will cause an offset component on the axis of the acceleration sensor. At this time, the gyroscope is used to identify the spatial attitude of the target object, and through the coordinate transformation Filters out the offset component of the gravitational acceleration. Calculate the parameters in the rotation matrix according to the Euler angle method

θ, γ, so the components of gravitational acceleration on the x, y, and z axes of the acceleration sensor are:

Therefore, when the target object moves in space, the instantaneous velocity and displacement of the target object in space can be obtained through integral operation.

E. Fit the ball according to the motion trajectory points, and obtain the coordinates of the center of the ball

First, spherical fitting is performed according to the least squares sphere fitting method of a non-holonomic sphere. As shown in Figure 4, the x-axis corresponds to the horizontal direction of the waist of the human body, and the y-axis corresponds to the long-axis direction of the human body. The x-axis and the y-axis jointly define the For the coronal plane α of the human pelvis, the equation of the fitted non-holonomic least squares sphere is:

(x+a) ² +(y+b) ² +(x+c) ² =R ²

Among them, the fitting sphere center is A(-a,-b,-c), and the radius is R.

Let a ² +b ² +c ² -R ² =d, substitute the spatial coordinates p _i (x _i ,y _i ,z _i ) of each sample point on the actual measured non-holonomic sphere into the spherical equation, the spherical equation may be is not equal to zero and is set to:

where k _i is the function deviation between each sampling point on the actual nonholonomic sphere and the corresponding point on the fitted least squares sphere, when

is the smallest, the fitted least squares sphere approximates the actual nonholonomic sphere, let:

得到以下方程组：According to the method of finding the minimum value, by

The following system of equations is obtained:

Among them, i=1, 2, 3...n is the number of measured points on the non-holonomic sphere. By solving the above equations, a, b, c, d can be obtained, and the center A(-a,-b,-c) of the fitted least squares sphere can be obtained.

F. Obtaining abduction and anteversion

(即外展角)和θ(即前倾角)：According to the above spherical center coordinate sphere, solve the angle between AO and the x-axis and y-axis on the plane α respectively

(i.e. abduction angle) and θ (i.e. anteversion angle):

The beneficial technical effects of the positioning measuring device and measuring method for hip replacement surgery of the present invention are at least manifested in the following aspects:

(1) The present invention uses a high-precision sensor and a high-performance microprocessor to measure, so as to solve the problem of manual error and body position error in the measurement, greatly increase the measurement accuracy, and reduce the time and difficulty of the operation. To a certain extent, the dependence on the doctor's experience and subjective judgment has been overcome;

(2) The present invention optimizes the CT light film measurement method in the prior art to perform real-time measurement with CT light film in conjunction with the actual operation process, so that the hip replacement surgery has stronger flexibility, and on the one hand, the operation is planned in advance according to the specific situation of the patient The plan can choose to apply to the supine position and the lateral position; on the other hand, during the operation, the data can also be measured in real time, and the two-way data comparison and verification can be carried out to make the installation of the prosthesis more accurate, so as to achieve better clinical efficacy and reduce the number of patients. chance of surgery;

(3) In the present invention, by fixing the measuring locator module on the femoral stem of the acetabular prosthesis, a three-dimensional motion model can be established, and the motion of the hip joint can be performed in a specific manner. The motion sensor will collect motion data in real time, and the microprocessor will collect motion data in real time. The motion data is processed to calculate the relative angular position of the hip joint abduction angle and anteversion angle of the human body, and the angle value is transmitted to the smart terminal through the wireless communication module for display. The doctor completes the hip joint according to the displayed measurement results. Precise installation of prostheses in replacement surgery;

(4) The present invention uses two identical locator modules, one as a reference and one for measurement, and the data of the relative movement of the two can be obtained, thereby offsetting the error caused by the change of the patient's posture or body position, making the measurement result more accurate. precise;

(5) The locator module of the present invention is small in size, low in cost and convenient in operation.

Description of drawings

Figure 1 is a schematic diagram of the three-axis correspondence between an ideal magnetometer and an actual magnetometer;

Fig. 2 is the neural network training structure schematic diagram of the magnetometer error correction model;

Fig. 3 is the attitude angle position schematic diagram of magnetometer;

Fig. 4 is a schematic diagram of simulated spherical coordinates;

5 is a schematic diagram of azimuth calibration performed by a locator module according to a preferred embodiment of the present invention;

6 is a schematic diagram of the reference locator module using a pelvic calibrator for calibration according to a preferred embodiment of the present invention;

7 is a schematic diagram of the structure and use state of a reference locator according to a preferred embodiment of the present invention;

8 is a schematic diagram of the measurement locator module of a preferred embodiment of the present invention calibrated using a pelvic calibrator;

9 is a schematic diagram of the structure and use state of an acetabular guide according to a preferred embodiment of the present invention.

Detailed ways

The embodiments of the present invention are described in detail below. The following embodiments are implemented on the premise of the technical solutions of the present invention, and provide detailed embodiments and specific operation processes, but the protection scope of the present invention is not limited to the following example.

As shown in Figures 5-9, in a preferred embodiment, the positioning measurement device for hip replacement surgery of the present invention includes at least two positioning instrument modules 1, a pelvis calibration device 2, a reference positioning device 3 and an intelligent terminal ( not shown in the figure).

There are two locator modules 1 , which are a reference locator module 11 and a measurement locator module 12 respectively. The locator module 1 includes a casing and a circuit board; the circuit board includes a power supply, a microprocessor, a motion sensor, a wireless communication module and a power switch. The power supply is a button battery; the microprocessor is an embedded programmable controller; the motion sensor includes a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer; the wireless communication module is a Bluetooth module; and the power switch is a push switch.

The pelvis calibrator 2 is T-shaped and includes a horizontal bar 21 and a vertical bar 22 that is substantially perpendicular to the horizontal bar 21 . The lengths of the horizontal bars 21 and the vertical bars 22 are adjustable. The cross bar 21 has a holder 23 for fixing the locator module 1 .

The reference locator 3 includes a reference fixing pin 31 and a reference locating arm 32 connected thereto. One end of the reference locating arm 32 has a holder 33 for fixing the reference locator module 11 . The angle of the reference positioning arm 32 relative to the reference pin 31 is adjustable.

The smart terminal is a tablet computer or a smart phone.

In hip replacement surgery, the method for measuring using the positioning measuring device of this embodiment includes the following steps:

Step 1. As shown in Figure 5, install the two locator modules 1 in the dual-module holder 6 at the same time, and place them on the horizontal calibration disc 5 for orientation calibration, and operate the dual-module holder according to the prompts of the smart terminal. Then, the dual-module holder 6 is removed from the horizontal calibration disc 5, placed on the horizontal operation platform, and six-sided calibration is performed according to the prompt of the smart terminal;

Step 2. As shown in Figure 6, along the acetabular surgical incision, insert the reference fixation pin 31 on the outer side of the acetabular fossa;

Step 3. Select any one of the two locator modules 1 as the reference locator module 11, and install the reference locator module 11 on the holder 23 of the pelvis calibrator 2;

Step 4. Adjust the cross bar 21 of the pelvis calibrator 2 to the same length according to the size of the anterior superior iliac spine on both sides of the patient (ie the length of AB), so that the two ends of the cross bar 21 are located on both sides of the patient's anterior superior iliac spine. (ie A, B), adjust the lower end of the vertical rod 22 of the pelvis calibrator 2 to the patient's pubic symphysis position (ie, C), keep the pelvis calibrator 2 stable and do not shake to carry out the calibration of the reference locator module 11, The attitude angle data is obtained as the patient's initial pelvis data. After the calibration of the reference locator module 11 is completed, the pelvis calibrator 2 and the reference locator module 11 are removed;

Step 5. As shown in FIG. 7, connect the reference positioning arm 32 of the reference positioner 3 to the reference fixing nail 31, install the reference positioner module 11 that has completed the calibration on the holder 33 of the reference positioner 3, and adjust Refer to the positioning arm 32 to a suitable angle and fix it;

Step 6, as shown in FIG. 8 , select the other of the two locator modules 1 as the measurement locator module 12, and install the measurement locator module 12 on the holder 23 of the pelvis calibrator 2;

Step 7. Place the two ends of the horizontal bar 21 of the pelvic calibrator 2 at the anterior superior iliac spines on both sides of the patient (ie, A and B), and place the lower end of the vertical bar 22 at the patient's pubic symphysis (ie, C). place), carry out the calibration of the measurement locator module 12 under the condition that the pelvis calibrator 2 does not shake, obtain the attitude angle data, and remove the pelvis calibrator 2 and the measurement locator module 12 after the calibration of the measurement locator module 12 is completed;

Step 8. As shown in Fig. 9, install the calibrated measuring locator module 12 on the holder 42 of the acetabular guide 4, and install the ball head 41 of the acetabular guide 4 on the polished acetabular fossa. Inside, adjust the direction of the acetabular guide 4, and the smart terminal displays the current installation angle data (ie, abduction angle and anteversion angle data) in real time;

Step 9. The acetabular prosthesis is inserted according to the real-time angle data displayed by the smart terminal, and the installation angle data will be updated in real time every time the tap is inserted, so as to help the doctor to install the prosthesis more accurately.

The preferred embodiments of the present invention have been described in detail above. It should be understood that many modifications and changes can be made according to the concept of the present invention by those skilled in the art without creative efforts. Therefore, any technical solutions that can be obtained by those skilled in the art through logical analysis, reasoning or limited tests on the basis of the prior art according to the concept of the present invention shall fall within the protection scope determined by the claims.

Claims (10)

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.

10. A method of measurement in hip replacement surgery using the positioning measurement device of any one of claims 1-9, characterized by the steps of:

step 1, carrying out azimuth calibration and six-side calibration on two locator 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 locator modules as a reference locator module, and installing the reference locator 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 sizes 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 the 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 the 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 positioning instrument modules as a measurement positioning instrument module, and installing the measurement positioning instrument module on a clamp holder of the pelvis calibrator;

step 7, placing the two ends of the cross rod of the pelvis calibrator on the anterior superior iliac spines on the two sides of the patient, placing the lower end of the vertical rod on the pubic bone joint position of the patient, calibrating the measurement and positioning instrument module under the condition that the pelvis calibrator does not shake to obtain attitude angle data, and taking down the pelvis calibrator and the measurement and positioning instrument module after the calibration of the measurement and positioning instrument module is finished;

step 8, mounting the calibrated measurement and positioning instrument module on a clamp holder of an acetabulum guide instrument, mounting a ball head of the acetabulum guide instrument in a polished acetabulum socket, adjusting the direction of the acetabulum guide instrument, and displaying current abduction angle and anteversion angle data in real time by the intelligent terminal;

and 9, driving the acetabular prosthesis according to the real-time angle data displayed by the intelligent terminal, wherein the data of the abduction angle and the anteversion angle 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.

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