CN115005988B - Positioning error measurement device and method - Google Patents
Positioning error measurement device and method Download PDFInfo
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- CN115005988B CN115005988B CN202210770231.5A CN202210770231A CN115005988B CN 115005988 B CN115005988 B CN 115005988B CN 202210770231 A CN202210770231 A CN 202210770231A CN 115005988 B CN115005988 B CN 115005988B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3904—Markers, e.g. radio-opaque or breast lesions markers specially adapted for marking specified tissue
- A61B2090/3916—Bone tissue
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Abstract
本发明提供一种定位误差测量装置及方法，包括：底座以及插接在所述底座上的测量板；其中，所述底座为枪形、且其上开设有若干个与骨骼位置对应的位置孔和若干个用于同测量板插接的连接孔，若干个所述连接孔间隔设置并构成弧形。其优点是：通过对比多次采集安装在底座上的标记模块距离来计算髋关节手术导航系统的长度误差；通过对比多次采集安装在底座上的实际外展角与测量外展角来计算髋关节手术导航系统的角度误差。
The present invention provides a positioning error measurement device and method, comprising: a base and a measuring plate plugged into the base; wherein the base is gun-shaped and has a plurality of position holes corresponding to the bone positions and a plurality of connection holes for plugging into the measuring plate, and the plurality of connection holes are arranged at intervals and form an arc. The advantages are: the length error of the hip joint surgery navigation system is calculated by comparing the distance of the marker modules installed on the base collected multiple times; the angle error of the hip joint surgery navigation system is calculated by comparing the actual abduction angle installed on the base collected multiple times with the measured abduction angle.
Description
Technical Field
The invention relates to the technical field of hip joint surgery navigation systems, in particular to a positioning error measuring device and a positioning error measuring method.
Background
The surgical navigation system, namely the computer-aided surgery, organically combines the modern imaging technology, the stereotactic technology, the electronic computer technology and the artificial intelligence technology with a surgeon, and fully utilizes the information to ensure that a patient obtains safe, accurate and minimally invasive surgical treatment. Compared with the traditional surgery, the surgical navigation system can formulate an optimal surgical scheme through operation processing, track the position of the surgical instrument, update the position of the surgical instrument on an intraoperative image in real time, and provide accurate reference for doctors in the surgery.
But length errors and angle errors are typically included in conventional measurement procedures, resulting in reduced accuracy, precision, and subsequent surgical effects of the acquired data.
Disclosure of Invention
The invention provides a positioning error measuring device and a positioning error measuring method, which can achieve the aim of improving the effect of subsequent operations by measuring the length error and the angle error and improving the accuracy and precision of acquired data.
In order to achieve the above object, the present invention provides the following technical solutions:
The first aspect of the invention provides a positioning error measuring device and a positioning error measuring method, comprising a base and a measuring plate inserted on the base;
The base is gun-shaped, and is provided with a plurality of position holes corresponding to the positions of bones and a plurality of connecting holes for being inserted with the measuring plate, and the connecting holes are arranged at intervals and form an arc shape.
Preferably, the position holes are arranged at intervals in the transverse side and the longitudinal side of the base, and the plurality of connecting holes are positioned between the position holes arranged in the transverse side and the longitudinal side.
Preferably, the measuring plate comprises two vertically arranged inserting columns and a disc vertically fixed at the top of the inserting columns, and the inserting columns are used for being inserted into the connecting holes and connected with the base;
Wherein the position holes are marked by a marking module in the hip surgery navigation system to measure position information.
Preferably, the hip joint operation navigation system further comprises an acquisition module, a control module and a navigation module, wherein the acquisition module outputs acquired position information to the acquisition module, the acquisition module acquires the position information and outputs the acquired position information to the control module, and the control module converts and analyzes the acquired position information and outputs and displays the acquired position information through the navigation module.
The second aspect of the present invention provides a positioning error measurement method, which is characterized by comprising the steps of:
S1, mounting a marking module on a hip joint operation navigation system on a position hole of a base to measure position information corresponding to the anterior superior iliac spine, pelvis and femur, transmitting the position information to an acquisition module, converting data by a control module, and outputting the position information to a navigation module for display;
To calculate the length error of the hip operation navigation system, the specific formula is as follows:
Wherein n-the number of measurements;
A. b is the absolute position corresponding to the pelvis and femur respectively;
A iBi -n-th measurement A, B distance between two points.
Preferably, in step S1, the measurement coordinate system is determined according to the position information corresponding to the anterior superior iliac spine, the position information corresponding to the pelvis and the position information corresponding to the femur are both absolute positions A, B, and the distance a iBi between the two absolute positions is calculated.
Preferably, in step S1, the coordinate systems of the absolute positions A, B are (x A1,yA1,zA1）、（xB1,yB1,zB1), respectively, and step S1 is repeated to obtain A2B2、A3B3、A4B4、A5B5、A6B6.
Preferably, the positioning error measurement method of the second aspect further comprises
S2, measuring actual included angles between connecting lines of a plurality of groups of connecting holes on the base and connecting lines of position holes corresponding to the front upper iliac spines to obtain actual abduction angles;
S3, inserting the measuring plate into the connecting hole on the base, randomly collecting three points on the outer wall of the measuring plate for a plurality of times, and calculating an extension line of an intersection line of a plane formed by the three points collected each time and a plane where the bottom plate is positioned, wherein an included angle formed between the extension line and a position hole connecting line corresponding to the front upper spine of the ilium is a measurement abduction angle;
s4, placing the actual abduction angle measured in the step S2 and the measured abduction angle measured in the step S3 into the following formulas to calculate the angle error of the hip joint operation navigation system:
Wherein:
n-number of measurements;
Alpha 0、β0、γ0 -are the actual abduction angles at different positions on the base;
Alpha i、βi、γi -are the i-th measured abduction angles measured at different positions of the measuring plate.
Preferably, the position holes are arranged at intervals in the transverse side and the longitudinal side of the base, and the plurality of connecting holes are positioned between the position holes arranged in the transverse side and the longitudinal side.
Preferably, the measuring plate comprises two vertically arranged inserting columns and a disc vertically fixed at the top of the inserting columns, and the inserting columns are used for being inserted into the connecting holes and connected with the base;
Wherein the position holes are marked by a marking module in the hip surgery navigation system to measure position information.
The positioning error measuring device and the positioning error measuring method have the advantages that the length error of the hip joint operation navigation system is calculated by comparing the distances of the marking modules which are acquired for a plurality of times and are arranged on the base;
The invention has the advantages of simple tool structure, convenient operation, convenient calculation method and low professional requirements for operators, and is suitable for popularization and use.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. In the drawings:
FIG. 1 is a schematic perspective view of a positioning error measuring device according to the present invention;
FIG. 2 is a schematic diagram of the modular connection of a hip surgical navigation system;
Wherein:
The measuring device comprises a base 1, a measuring plate 2, a plug 21 and a disc 22;
position hole 3, hole 31, hole 32, hole 33, hole 34, hole 35;
connecting hole 4, hole No. 41, hole No. 42, hole No. 43, hole No. 44, hole No. 45, hole No. 46;
The system comprises a marking module 8, an acquisition module 5, a control module 6 and a navigation module 7.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
According to the figure 1, the positioning error measuring device comprises a base 1 and a measuring plate 2 inserted on the base 1, wherein the base 1 is a special-shaped stretching body in the embodiment.
The base 1 is gun-shaped, and is provided with a plurality of position holes 3 (such as a first hole 31, a second hole 32, a ninth hole 33, a tenth hole 34 and an eleventh hole 35 in fig. 1) corresponding to the bone position, and a plurality of connecting holes 4 (such as a third hole 41-an eighth hole 46) for being inserted into the measuring plate 2, wherein the plurality of connecting holes 4 are arranged at intervals and form an arc;
The included angle between the connecting lines of the first hole 31 and the second hole 32 and the connecting lines of the third hole 41 and the fourth hole 42 is alpha 0, the included angle between the connecting lines of the first hole 31 and the second hole 32 and the connecting lines of the fifth hole 43 and the sixth hole 44 is beta 0, and the included angle between the connecting lines of the first hole 31 and the second hole 32 and the connecting lines of the seventh hole 45 and the eighth hole 46 is gamma 0.
In a specific implementation manner, the position holes 3 are spaced apart from each other in the lateral and longitudinal directions of the base 1, and the plurality of connection holes 4 are located between the position holes 3 opened in the lateral and longitudinal directions (as shown in fig. 1). The measuring plate 2 comprises two vertically arranged inserting columns 21 and a disc 22 vertically fixed on the top of the inserting columns 21, and the inserting columns 21 are used for being inserted into the connecting holes 4 to be connected with the base 1;
wherein the position holes 3 are marked by a marking module 8 in the hip surgery navigation system for measuring position information.
Further, as shown in fig. 2, the hip joint surgery navigation system further includes an acquisition module 5, a control module 6, and a navigation module 7, where the acquisition module 5 outputs the acquired position information to the acquisition module 5, and the acquired position information is output to the control module 6 after being acquired by the acquisition module 5, and the acquired position information is output and displayed by the navigation module 7 after being subjected to data conversion and analysis by the control module 6.
More specifically, a marking module 8 marks position information identifying bones;
the acquisition module 5 is used for acquiring the position information of the marking module;
The control module 6 is used for carrying out data conversion and analysis on the collected position information;
the navigation module 7 is used for displaying the specific position information of the control module 6;
And holes 41-42, 43-44, 45-46 are matched with the measuring plate 2, holes 31, 32, 33, 34 and 35 are matched with the marking module, and the base 1 provides a base for the measuring plate 2 and the marking module.
The first hole 31, the second hole 32 and the first marking module are matched, the ninth hole 33, the tenth hole 34 and the second marking module are matched, and the eleventh hole 35 is matched with the third marking module.
The invention relates to a positioning error measurement method, which specifically comprises the following steps:
S1, a first marking module, a second marking module and a third marking module on a hip joint operation navigation system are respectively installed on a position hole 3 of a base 1, wherein the first marking module is matched with a first hole 31-a second hole 32, the second marking module is matched with a ninth hole 33-a tenth hole 34, and the third marking module is matched with an eleventh hole 35;
The position information of the anterior superior iliac spine (corresponding to the first hole 31-the second hole 32), the pelvis (corresponding to the ninth hole 33-the tenth hole 34) and the femur (corresponding to the eleventh hole 35) is measured, transmitted to the acquisition module 5, subjected to data conversion by the control module 6, and output to the navigation module 7 for display;
In the above steps, the position information of the anterior superior iliac spine (i.e. the position information of the first marking module) is collected by the collecting module 5, transmitted to the control module 6, converted by data, and output to the navigation module 7 for display to determine a measurement coordinate system for standby, the position information of the second marking module and the third marking module is collected by the same measuring method to respectively obtain the absolute position A (x A1,yA1,zA1）、B（xB1,yB1,zB1) of the second marking module in the coordinate system to determine the measurement coordinate system, the position information of the corresponding pelvis and the position information of the corresponding femur are both absolute positions A, B, and the distance A iBi of the two absolute positions is calculated.
Repeating the above steps for five times to obtain A1B1、A2B2、A3B3、A4B4、A5B5、A6B6, average value, which is the system length error.
To calculate the length error of the hip operation navigation system, the specific formula is as follows:
Wherein n-the number of measurements;
A. b is the absolute position corresponding to the pelvis and femur respectively;
A iBi -n-th measurement A, B distance between two points.
Further, in order to obtain the angle error of the hip operation navigation system, the following steps are required to be performed:
s2, measuring actual included angles between connecting lines of a plurality of groups of connecting holes 4 on the base 1 and connecting lines of position holes 3 corresponding to the front upper iliac spines to form actual abduction angles;
The included angle formed by connecting lines between the first hole 31 and the second hole 32 and connecting lines between the third hole 41 and the fourth hole 42 is alpha 0, the included angle formed by connecting lines between the first hole 31 and the second hole 32 and connecting lines between the fifth hole 43 and the sixth hole 44 is beta 0, the included angle formed by connecting lines between the first hole 31 and the second hole 32 and connecting lines between the seventh hole 45 and the eighth hole 46 is gamma 0, namely alpha 0、β0、γ0 is the actual abduction angle of different positions on the base 1 for standby;
S3, inserting the measuring plate 2 into the connecting hole 4 on the base 1, randomly collecting three points on the outer wall of the measuring plate 2 for 5 times, and calculating an extension line of an intersection line of a plane formed by the three points collected each time and a plane where the bottom plate is positioned, wherein an included angle formed between the extension line and a connecting line of a position hole 3 corresponding to the front upper spine of the ilium is a measurement abduction angle;
specifically, for example, taking fig. 1 as an example, three points are randomly taken 5 times on the measuring board 2, so that included angles formed between connecting lines between the same number hole 31 and the second hole 32 of an extension line of an intersection line of a plane formed by the measuring board and the plane of the bottom board are gamma 1、γ2、γ3、γ4、γ5、γ6 respectively, namely measuring abduction angles;
Similarly, the measuring plate 2 is inserted into the holes 41 and 42, the measured abduction angle measured by the hip operation navigation system is alpha 1,α2,α3,α4,α5,α6, the measuring plate 2 is inserted into the holes 43 and 44, and the measured abduction angle measured by the hip operation navigation system is beta 1,β2,β3,β4,β5,β6;
s4, placing the actual abduction angle measured in the step S2 and the measured abduction angle measured in the step S3 into the following formulas to calculate the angle error of the hip joint operation navigation system:
Wherein:
n-number of measurements;
alpha 0、β0、γ0 -are the actual abduction angles at different positions on the base 1;
Alpha i、βi、γi -are the i-th measured abduction angles measured at different positions of the measuring plate 2.
The system angle error can be obtained after multiple measurements and calculation by adopting the angle error formula.
The measuring method of the invention can judge the length error and the angle error of the hip joint operation navigation system through the operation of the navigation module 7 by the needed position information. Errors in the navigation system of the hip surgery determine its accuracy and precision, which are important references for navigation in the hip surgery.
The invention relates to a measuring method for the errors of a hip joint operation navigation system in the length and angle measuring process, which can be used more accurately after the length errors and angle errors of the hip joint operation navigation system are obtained.
The principles, structures, procedures, etc. not explicitly described in the present invention are all available to those skilled in the art through conventional technical means, such as measurement of actual abduction angle.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. The positioning error measuring device is characterized by comprising a base (1) and a measuring plate (2) inserted on the base (1);
the base (1) is gun-shaped, and is provided with a plurality of position holes (3) corresponding to the positions of bones and a plurality of connecting holes (4) for being inserted into the measuring plate (2), and the connecting holes (4) are arranged at intervals and form an arc;
The measuring plate (2) comprises two vertically arranged inserting columns (21) and a disc (22) vertically fixed at the top of the inserting columns (21), and the inserting columns (21) are used for being inserted into the connecting holes (4) to be connected with the base (1);
wherein the position holes (3) are marked by a marking module (8) in the hip surgery navigation system to measure position information.
2. The positioning error measuring device according to claim 1, wherein the position holes (3) are arranged at intervals in the transverse side and the longitudinal side directions of the base (1), and the plurality of connecting holes (4) are positioned between the position holes (3) arranged in the transverse side and the longitudinal side directions.
3. The positioning error measuring device according to claim 1, wherein the hip joint operation navigation system further comprises an acquisition module (5), a control module (6) and a navigation module (7), wherein the acquisition module (5) outputs acquired position information to the acquisition module (5), the acquisition module (5) acquires the position information and then outputs the acquired position information to the control module (6), and the control module (6) converts and analyzes the acquired position information and then outputs and displays the acquired position information through the navigation module (7).
4. A positioning error measuring method is characterized by comprising the following steps:
S1, a marking module (8) on a hip joint operation navigation system is arranged on a position hole (3) of a base (1) so as to measure position information corresponding to the anterior superior iliac spine, pelvis and femur, and the position information is transmitted to an acquisition module (5) and then is subjected to data conversion by a control module (6) and then is output to a navigation module (7) for display;
To calculate the length error of the hip operation navigation system, the specific formula is as follows:
;
Wherein n-the number of measurements;
A. b is the absolute position corresponding to the pelvis and femur respectively;
a iBi -n-th measurement A, B distance between two points;
and also comprises
S2, measuring actual included angles between connecting lines of a plurality of groups of connecting holes (4) on the base (1) and connecting lines of position holes (3) corresponding to the front upper iliac spines to obtain actual abduction angles;
S3, inserting the measuring plate (2) into a connecting hole (4) on the base (1), randomly collecting three points on the outer wall of the measuring plate (2) for a plurality of times, and calculating an extension line of an intersection line of a plane formed by the three points collected each time and a plane where the bottom plate is positioned, wherein an included angle formed between the extension line and a connecting line of a position hole (3) corresponding to the front upper spine of the ilium is a measurement abduction angle;
s4, placing the actual abduction angle measured in the step S2 and the measured abduction angle measured in the step S3 into the following formulas to calculate the angle error of the hip joint operation navigation system:
;
Wherein:
n-number of measurements;
Alpha 0、β0、γ0 -are the actual abduction angles of different positions on the base (1);
Alpha i、βi、γi -are the i-th measured abduction angles measured at different positions of the measuring plate (2).
5. The method of claim 4, wherein in step S1, the measurement coordinate system is determined according to the position information corresponding to the anterior superior iliac spine, the position information corresponding to the pelvis and the position information corresponding to the femur are absolute positions A, B, and the distance A iBi between the two absolute positions is calculated.
6. The method of claim 4, wherein in step S1, the absolute position A, B is set to be (x A1,yA1,zA1）、（xB1,yB1,zB1), and step S1 is repeated to obtain A2B2、A3B3、A4B4、A5B5、A6B6.
7. The positioning error measuring method according to claim 4, wherein the position holes (3) are formed in the base (1) at intervals in the transverse and longitudinal directions, and the plurality of connecting holes (4) are located between the position holes (3) formed in the transverse and longitudinal directions.
8. The positioning error measuring method according to claim 7, wherein the measuring plate (2) comprises two vertically arranged inserting columns (21) and a disc (22) vertically fixed on the top of the inserting columns (21), and the inserting columns (21) are used for being inserted into the connecting holes (4) to be connected with the base (1);
wherein the position holes (3) are marked by a marking module (8) in the hip surgery navigation system to measure position information.
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| US10918499B2 (en) * | 2017-03-14 | 2021-02-16 | OrthAlign, Inc. | Hip replacement navigation systems and methods |
| CN112137720A (en) * | 2019-06-28 | 2020-12-29 | 苏州理禾医疗技术有限公司 | Positioning precision detection device and method of surgical operation navigation system |
| KR102380586B1 (en) * | 2020-01-13 | 2022-03-30 | 덕산넵코어스 주식회사 | Navigation system, apparatus and method for estimating navigation error |
| CN111616845A (en) * | 2020-06-03 | 2020-09-04 | 北京积水潭医院 | A positioning measuring device and measuring method for hip replacement surgery |
| CN112006779B (en) * | 2020-09-27 | 2024-05-03 | 安徽埃克索医疗机器人有限公司 | Precision detection method of surgical navigation system |
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| CN113180826A (en) * | 2021-04-06 | 2021-07-30 | 北京长木谷医疗科技有限公司 | Precision detection method and device of joint replacement surgery navigation system |
| CN113199510B (en) * | 2021-06-09 | 2022-08-16 | 杭州柳叶刀机器人有限公司 | Precision inspection method for surgical navigation robot |
| CN113456254B (en) * | 2021-08-05 | 2022-06-21 | 电子科技大学 | A system and method for measuring acetabular anteversion and abduction angles in hip arthroplasty |
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| CN215584364U (en) * | 2021-07-30 | 2022-01-21 | 北京天智航医疗科技股份有限公司 | Navigation precision measuring device |
| CN218075211U (en) * | 2022-07-01 | 2022-12-20 | 北京大学第三医院（北京大学第三临床医学院） | Tool for measuring positioning error |
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