CN113171077A - Lower limb length measuring device and method for total hip replacement - Google Patents
Lower limb length measuring device and method for total hip replacement Download PDFInfo
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 title claims description 35
- 238000011541 total hip replacement Methods 0.000 title claims description 11
- 210000003423 ankle Anatomy 0.000 claims abstract description 35
- 230000001133 acceleration Effects 0.000 claims abstract description 23
- 238000011882 arthroplasty Methods 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims description 15
- 230000009471 action Effects 0.000 claims description 12
- 230000005484 gravity Effects 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 6
- 238000001356 surgical procedure Methods 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000035945 sensitivity Effects 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 230000001413 cellular effect Effects 0.000 claims description 2
- 230000013011 mating Effects 0.000 claims 1
- 230000002980 postoperative effect Effects 0.000 abstract description 3
- 238000009434 installation Methods 0.000 abstract description 2
- 208000024891 symptom Diseases 0.000 abstract 1
- 210000003414 extremity Anatomy 0.000 description 3
- 208000008035 Back Pain Diseases 0.000 description 2
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- 230000000694 effects Effects 0.000 description 2
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- 208000008930 Low Back Pain Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
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- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
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- 208000015181 infectious disease Diseases 0.000 description 1
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1072—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring distances on the body, e.g. measuring length, height or thickness
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
- A61B5/1113—Local tracking of patients, e.g. in a hospital or private home
- A61B5/1114—Tracking parts of the body
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
- A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
- A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb using a particular sensing technique
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Abstract
The invention provides a lower limb length measuring device based on an inertial sensor and used for total hip arthroplasty. The sensing equipment comprises an accelerometer and a gyroscope, wherein the accelerometer is used for sensing and outputting the acceleration of the movement, and the gyroscope is used for sensing and outputting the angular velocity of the movement; the fixing member comprises a sensing device fixing member and an ankle fixing member, the sensing device fixing member is used for fixing the sensing device, and the ankle fixing member is used for fixing the measuring device on the ankle of the patient; and the terminal equipment is used for receiving the acceleration and angular velocity data obtained by the accelerometer and the gyroscope, and calculating and displaying the length of the lower limb of the patient in real time. According to the invention, real-time lower limb length can be calculated through effective ankle lifting or ankle lowering movement in the operation, and a doctor adjusts prosthesis installation according to the length value at the moment to finally obtain ideal lower limb length, so that postoperative discomfort symptoms caused by unequal lower limbs are effectively prevented.
Description
Technical Field
The invention belongs to the field of medical instruments, and particularly relates to a lower limb length measuring device and method for total hip arthroplasty.
Background
Total Hip Arthroplasty (THA) is a common clinical treatment for hip disease with significant clinical efficacy, but is prone to complications of unequal length of the two Lower Limbs (LLD) after surgery. The occurrence of LLD may cause the patient to have the phenomena of scoliosis, pelvic tilt, ischial nerve paralysis, lumbago and backache, prosthesis looseness, lameness and the like, and is not beneficial to the postoperative rehabilitation of the patient. Therefore, the LLD phenomenon in total hip replacement surgery is highly regarded in clinic.
In the prior art, in order to prevent the occurrence of the LLD phenomenon, the physician adopts the intra-operative techniques such as a PCA limb length measuring device, a Kirschner wire positioning method, a suture positioning method and the like. These measurement methods have advantages and disadvantages, for example, although the suture method in operation is simple and low in cost, the result may be erroneous due to the elasticity of the skin of the patient, the position of the affected limb, and the like; although the Kirschner wire positioning method can effectively control the extension of the limbs of the patient after the operation and has simple operation, the precision is not high. Therefore, a need exists for a lower limb length measuring device and method for total hip replacement that is simple to operate, highly controllable, and highly accurate.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a lower limb length measuring device and method for total hip replacement based on an inertial sensor, which can calculate the real-time length of the lower limb through the effective ankle raising or ankle lowering movement during the operation, and the doctor adjusts the prosthesis installation according to the length value at that time, so as to obtain the ideal length of the lower limb, thereby effectively preventing postoperative discomfort caused by unequal length of the lower limb.
In order to achieve the above object, in a first aspect, the present invention provides a lower limb length measuring apparatus for use in total hip arthroplasty, comprising a sensing device, a fixture, and a terminal device; wherein,
the sensing equipment comprises an accelerometer and a gyroscope, wherein the accelerometer is used for sensing and outputting the acceleration of the movement, and the gyroscope is used for sensing and outputting the angular velocity of the movement;
the fixing member comprises a sensing device fixing member and an ankle fixing member, the sensing device fixing member is used for fixing the sensing device, and the ankle fixing member is used for fixing the measuring device on the ankle of the patient;
and the terminal equipment is used for receiving the acceleration and angular velocity data obtained by the accelerometer and the gyroscope, and calculating and displaying the length of the lower limb of the patient in real time.
Further, the accelerometer is a three-axis accelerometer, and can output X, Y, Z three-axis accelerations; the gyroscope is a three-axis gyroscope which can output X, Y, Z three-axis angular velocities.
Further, the sensing device further comprises a wireless communication module for transmitting the acceleration and angular velocity data obtained by the accelerometer and the gyroscope to the terminal device.
Further, the wireless communication module is selected from one of bluetooth, WiFi, Zig-zag, cellular network communication module (e.g. 3G, 4G, 5G module), preferably bluetooth module.
Further, sensing equipment mounting is including having bellied fixing base, and the arch is used for cooperateing with the shrinkage pool on the sensing equipment to fix sensing equipment on the fixing base.
Further, the ankle fixing member is a strap.
Further, the terminal device is an integrated electronic device integrated with a wireless data receiving module, a data processing module and a display module, for example, an intelligent terminal device with data receiving, processing and displaying functions, such as a desktop computer, a notebook computer, a tablet computer or a smart phone. The terminal device is preferably a tablet computer for the sake of both portability and display effect.
In a second aspect, the present invention provides a method for measuring the length of a lower limb in total hip arthroplasty using the above measuring device, comprising the steps of:
and 3, outputting the acceleration and angular velocity data in the action process to a terminal device by the sensing device, receiving the acceleration and angular velocity data by the terminal device, and calculating and displaying the length of the lower limb of the patient in real time.
Further, the step 2 of "at a certain speed" means that the maximum value of the resultant speed calculated by the speed data sensed by the accelerometer in the action process is in the range of 0.4-1.5 m/s, that is, the maximum value of the resultant speed is not lower than the lower threshold limit of 0.4m/s and is not higher than the upper threshold limit of 1.5 m/s.
Further, the method for calculating the length of the lower limb of the patient in step 3 specifically comprises the following steps:
(4) setting coordinate systems of the accelerometer and the gyroscope as northeast;
(5) judging the moment of starting to move according to the three-axis values of the gyroscope;
(6) selecting a group of three-axis values of the accelerometer before starting to move as accx0，accy0，accz0As rest values, the measured gravity component is calculated:
(4) during movement, the three axial values of the accelerometer are accx，accy，acczThree-axis values of a gyroscopeAre respectively gx，gy，gzFirstly, unit transformation is carried out on data:
wherein, typ1 and typ2 are the sensitivities corresponding to the accelerometer and the gyroscope according to the selected measuring range respectively;
(5) roll angle theta and pitch angle are calculated from a first set of three axis values of the accelerometer as it moves
Firstly, the gravity component (0, 0, -1) is transferred to a carrier coordinate system through a rotation matrix:
and calculating to obtain:
(6) and updating the roll angle and the pitch angle according to the triaxial values of the gyroscope:
wherein,
(7) transferring the gravity vector from the geodetic coordinate system to the carrier coordinate system:
(8) and (3) obtaining the true acceleration of three axes of the accelerometer by removing the gravity vector:
(9) the component velocities of the three axes of the accelerometer are v respectivelyx，vy,vzThe resultant velocity is vsumAnd the maximum value of the resultant velocity in the motion process is required to be within the threshold range of 0.4-1.5 m/s:
(10) and (3) calculating the resultant angular velocity of three axes of the gyroscope in the motion process:
(11) make the lower limbs long
During the whole movement vsumWill increase and then decrease, and will therefore appearAnd a maximum value, wherein r corresponding to the maximum value is the real lower limb length.
The beneficial technical effects of the invention are at least reflected in the following aspects:
(1) in the total hip replacement, the lower limb length of a patient can be calculated in real time through the actions of lifting the ankle or putting down the ankle, and the operation is very simple; and through strict algorithm design, the measurement precision is more accurate than that of the prior art.
(2) The measuring device has good sealing performance and no infection risk in the operation process; the used sensor has low cost and can be used as disposable equipment.
Drawings
Fig. 1 is a schematic structural view of a lower limb length measuring device for total hip arthroplasty according to a preferred embodiment of the present invention.
Detailed Description
The following examples are given to illustrate the present invention in detail, and the following examples are given to illustrate the detailed embodiments and specific procedures of the present invention, but the scope of the present invention is not limited to the following examples.
As shown in FIG. 1, in a preferred embodiment, the lower limb length measuring device for total hip arthroplasty of the present invention comprises a sensing device 1, a fixing member and a terminal device (not shown in the figure); wherein,
the sensing device 1 includes an accelerometer for sensing and outputting an acceleration of a motion and a gyroscope for sensing and outputting an angular velocity of the motion;
the fixing member comprises a sensing device fixing member 2 and an ankle fixing member 3, the sensing device fixing member 2 is used for fixing the sensing device 1, and the ankle fixing member 3 is used for fixing the measuring device on the ankle of the patient;
and the terminal equipment is used for receiving the acceleration and angular velocity data obtained by the accelerometer and the gyroscope, and calculating and displaying the length of the lower limb of the patient in real time.
In this embodiment, the accelerometer is a three-axis accelerometer, and can output X, Y, Z three axial accelerations; the gyroscope is a three-axis gyroscope which can output X, Y, Z three-axis angular velocities.
In this embodiment, the sensing device 1 further includes a wireless communication module, configured to transmit acceleration and angular velocity data obtained by the accelerometer and the gyroscope to the terminal device.
In this embodiment, the wireless communication module is a bluetooth module.
In this embodiment, the sensing device fixing member includes a fixing base 2 having a protrusion, and the protrusion is used to match with the concave hole 11 on the sensing device 1, so as to fix the sensing device 1 on the fixing base 2.
In this embodiment, the ankle securing member 3 is a strap.
In this embodiment, the terminal device is a tablet computer.
In this embodiment, the method for measuring the length of the lower limb in total hip replacement by using the measuring device includes the following steps:
and 3, outputting the acceleration and angular velocity data in the action process to a terminal device by the sensing device, receiving the acceleration and angular velocity data by the terminal device, and calculating and displaying the length of the lower limb of the patient in real time.
The step 2 of "with a certain speed" means that the maximum value of the resultant speed calculated by the speed data sensed by the accelerometer in the action process is within a certain threshold range, preferably 0.4-1.5 m/s, i.e. the maximum value of the resultant speed is not lower than the lower threshold limit of 0.4m/s and is not higher than the upper threshold limit of 1.5 m/s.
The method for calculating the length of the lower limb of the patient in the step 3 specifically comprises the following steps:
(1) setting coordinate systems of the accelerometer and the gyroscope as northeast;
(2) judging the moment of starting to move according to the three-axis values of the gyroscope;
(3) selecting a group of three-axis values of the accelerometer before starting to move as accx0，accy0，accz0As rest values, the measured gravity component is calculated:
(4) during movement, the three axial values of the accelerometer are accx，accy，acczThe three-axis values of the gyroscope are gx，gy，gzFirstly, unit transformation is carried out on data:
wherein, typ1 and typ2 are the sensitivities corresponding to the accelerometer and the gyroscope according to the selected measuring range respectively;
(5) roll angle theta and pitch angle are calculated from a first set of three axis values of the accelerometer as it moves
Firstly, the gravity component (0, 0, -1) is transferred to a carrier coordinate system through a rotation matrix:
and calculating to obtain:
(6) and updating the roll angle and the pitch angle according to the triaxial values of the gyroscope:
wherein,
(7) transferring the gravity vector from the geodetic coordinate system to the carrier coordinate system:
(8) and (3) obtaining the true acceleration of three axes of the accelerometer by removing the gravity vector:
(9) the component velocities of the three axes of the accelerometer are v respectivelyx，vy,vzThe resultant velocity is vsumAnd the maximum value of the resultant velocity in the motion process is required to be within a certain threshold value range:
(10) and (3) calculating the resultant angular velocity of three axes of the gyroscope in the motion process:
(11) make the lower limbs long
During the whole movement vsumWill increase first and then decrease, and thus a maximum will occur, where the corresponding r at the maximum is the true lower limb length.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A lower limb length measuring device used in total hip arthroplasty is characterized by comprising a sensing device, a fixing piece and a terminal device; wherein,
the sensing equipment comprises an accelerometer and a gyroscope, wherein the accelerometer is used for sensing and outputting the acceleration of the movement, and the gyroscope is used for sensing and outputting the angular velocity of the movement;
the fixing member includes a sensing device fixing member for fixing the sensing device and an ankle fixing member for fixing the measuring apparatus on the ankle of the patient;
and the terminal equipment is used for receiving the acceleration and angular velocity data obtained by the accelerometer and the gyroscope, and calculating and displaying the length of the lower limb of the patient in real time.
2. The lower limb length measurement device for use in total hip replacement surgery of claim 1, wherein the accelerometer is a three-axis accelerometer capable of outputting X, Y, Z three axial accelerations; the gyroscope is a three-axis gyroscope and can output X, Y, Z three-axis angular velocities.
3. The apparatus of claim 1, wherein the sensing device further comprises a wireless communication module for transmitting acceleration and angular velocity data obtained from the accelerometer and the gyroscope to the terminal device.
4. The lower limb length measurement device for use in total hip arthroplasty as claimed in claim 3, wherein the wireless communication module is selected from one of Bluetooth, WiFi, Zig-Bee, and cellular network communication modules.
5. The lower limb length measurement device for use in total hip replacement surgery of claim 1, wherein the sensing device holder comprises a holder having a protrusion for mating with a recess in the sensing device to hold the sensing device in the holder.
6. The lower limb length measurement device for use in total hip replacement surgery of claim 1, wherein the ankle fixing member is a strap.
7. The lower limb length measurement device for use in total hip replacement surgery of claim 1, wherein the terminal device is a desktop computer, a laptop computer, a tablet computer or a smartphone.
8. A method for measuring the length of a lower limb in total hip arthroplasty using a measuring device according to any one of claims 1 to 7, the method comprising the steps of:
step 1, fixing a measuring device in front of the ankle of a patient, and ensuring that the measuring device does not shake along with the movement of the lower limb of the patient in the testing process;
step 2, carrying out ankle lifting and/or ankle lowering actions on the lower limbs of the patient at a certain speed, wherein the ankle lifting and/or ankle lowering actions are approximately vertical to the horizontal plane;
and 3, outputting the acceleration and angular velocity data in the action process to a terminal device by the sensing device, receiving the acceleration and angular velocity data by the terminal device, and calculating and displaying the length of the lower limb of the patient in real time.
9. The method of claim 8, wherein the step 2 "at a certain velocity" means that the maximum value of the resultant velocity calculated from the velocity data sensed by the accelerometer during motion is 0.4-1.5 m/s.
10. The method of measuring the length of a lower limb in total hip arthroplasty as claimed in claim 8, wherein the method of calculating the length of the lower limb of the patient in step 3 comprises the following steps:
(1) setting coordinate systems of the accelerometer and the gyroscope as northeast;
(2) judging the moment of starting to move according to the three-axis values of the gyroscope;
(3) selecting a group of three-axis values of the accelerometer before starting to move as accx0，accy0，accz0As rest values, the measured gravity component is calculated:
(4) during movement, the three axial values of the accelerometer are accx，accy，acczThe three-axis values of the gyroscope are gx，gy，gzFirstly, unit transformation is carried out on data:
wherein, typ1 and typ2 are the sensitivities corresponding to the accelerometer and the gyroscope according to the selected measuring range respectively;
(5) roll angle theta and pitch angle are calculated from a first set of three axis values of the accelerometer as it moves
Firstly, the gravity component (0, 0, -1) is transferred to a carrier coordinate system through a rotation matrix:
and calculating to obtain:
(6) and updating the roll angle and the pitch angle according to the triaxial values of the gyroscope:
wherein,
(7) transferring the gravity vector from the geodetic coordinate system to the carrier coordinate system:
(8) and (3) obtaining the true acceleration of three axes of the accelerometer by removing the gravity vector:
(9) the component velocities of the three axes of the accelerometer are v respectivelyx，vy,vzThe resultant velocity is vsumAnd the maximum value of the resultant velocity in the motion process is required to be within the threshold range of 0.4-1.5 m/s:
(10) and (3) calculating the resultant angular velocity of three axes of the gyroscope in the motion process:
(11) make the lower limbs longerDegree of rotation
During the whole movement vsumWill increase first and then decrease, and thus a maximum will occur, where the corresponding r at the maximum is the true lower limb length.
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| CN113171212A (en) * | 2021-04-14 | 2021-07-27 | 爱乔（上海）医疗科技有限公司 | Lower limb length measuring device and method for total hip replacement |
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| CN113171212A (en) * | 2021-04-14 | 2021-07-27 | 爱乔（上海）医疗科技有限公司 | Lower limb length measuring device and method for total hip replacement |
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