CN115281900B - Automatic rotation center adjusting system for intervertebral disc prosthesis - Google Patents
Automatic rotation center adjusting system for intervertebral disc prosthesis Download PDFInfo
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- 230000033001 locomotion Effects 0.000 claims abstract description 42
- 238000013500 data storage Methods 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims abstract description 5
- 238000006073 displacement reaction Methods 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000001276 controlling effect Effects 0.000 abstract 1
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- 230000008859 change Effects 0.000 description 7
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- 101001121408 Homo sapiens L-amino-acid oxidase Proteins 0.000 description 2
- 102100026388 L-amino-acid oxidase Human genes 0.000 description 2
- 210000004872 soft tissue Anatomy 0.000 description 2
- 210000002517 zygapophyseal joint Anatomy 0.000 description 2
- 206010061246 Intervertebral disc degeneration Diseases 0.000 description 1
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- 239000007943 implant Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/44—Joints for the spine, e.g. vertebrae, spinal discs
- A61F2/442—Intervertebral or spinal discs, e.g. resilient
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/48—Operating or control means, e.g. from outside the body, control of sphincters
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Abstract
Description
技术领域Technical Field
本发明涉及智能医疗器械技术领域，特别涉及椎间盘假体旋转中心自动调节系统。The present invention relates to the technical field of intelligent medical equipment, and in particular to an automatic adjustment system for the rotation center of an intervertebral disc prosthesis.
背景技术Background technique
椎间盘置换术是治疗脊柱椎间盘退变性疾病的有效术式，其目的在于保留脊柱节段的生理性运动功能。脊柱功能节段(functionalspinalunit,FSU)包含上下两个椎体、椎间盘、后方小关节、韧带及周围软组织等结构构成，其运动包含一个椎体相对于另一个椎体的角运动和平移运动。临床通常使用活动范围(rangeofmotion,ROM)来评价人工颈椎间盘的活动能力，活动范围能够反映椎体间运动数量的变化，而旋转中心(centerofrotation,COR)能够反映运动学性质的变化，对颈椎生物力学环境的变化具有较高的敏感性。旋转中心的概念来源于物理学，用于描述物体的平面运动，其基本含义为：当物体在平面运动时，其运动的瞬间存在一个瞬时零速度点，该点即为物体的旋转中心。Disc replacement is an effective procedure for the treatment of degenerative disc diseases of the spine, and its purpose is to preserve the physiological motion function of the spinal segment. The functional spinal unit (FSU) consists of two upper and lower vertebrae, intervertebral discs, posterior facet joints, ligaments and surrounding soft tissues. Its movement includes angular movement and translational movement of one vertebra relative to another. The range of motion (ROM) is usually used clinically to evaluate the mobility of artificial cervical discs. The range of motion can reflect the change in the amount of intervertebral motion, while the center of rotation (COR) can reflect the change in kinematic properties and has a high sensitivity to changes in the biomechanical environment of the cervical spine. The concept of the center of rotation comes from physics and is used to describe the planar motion of an object. Its basic meaning is that when an object moves in a plane, there is an instantaneous zero velocity point at the moment of its movement, which is the center of rotation of the object.
例如，在C5-C6节段，C5椎体相对于C6的屈曲运动同时伴有一些平移运动。由这种角运动和平移运动的组合促使的C5椎体从初始位置运动到屈曲位置的过程可以用C5椎体围绕着旋转中心做相对于C6的纯角运动来表示。即运动节段中某一椎体的任意两个运动位置都可以确定一个独特的COR。然而，运动椎体围绕该基于两个位置的平均COR不能充分地捕捉到椎体两个运动终末位置过程中的运动路径。因为瞬时旋转中心(instantaneouscenterofrotation,ICR)在弧形运动过程中并不保持静止。ICR的运动取决于与屈伸运动相关的平移量，而屈伸运动的量又取决于脊柱运动节段的水平以及运动节段的健康情况，因此不同患者及不同节段、不同运动状态下的ICR不尽相同。For example, at the C5-C6 level, the flexion of the C5 vertebra relative to C6 is accompanied by some translation. The movement of the C5 vertebra from the initial position to the flexed position, which is caused by this combination of angular and translational motion, can be represented by the pure angular motion of the C5 vertebra relative to C6 around the center of rotation. That is, any two motion positions of a vertebra in the motion segment can determine a unique COR. However, the average COR based on the two positions of the moving vertebra cannot fully capture the motion path of the vertebra during the two end positions of the motion. Because the instantaneous center of rotation (ICR) does not remain stationary during the arc motion. The movement of the ICR depends on the amount of translation associated with the flexion and extension motion, and the amount of flexion and extension motion depends on the level of the spinal motion segment and the health of the motion segment. Therefore, the ICR varies from patient to patient, from segment to segment, and under different motion conditions.
当脊柱功能节段进行屈伸、侧弯、旋转及耦合运动时，生理性的瞬时旋转中心在不断发生变化，而目前的人工椎间盘的旋转中心并不符合生理状态下正常椎间盘的特征，这会降低节段的运动质量，造成钩椎关节、小关节及软组织的负荷分担异常，导致术后疼痛、退变加速，影响CDR的手术疗效。When the functional segments of the spine undergo flexion, extension, lateral bending, rotation and coupling movements, the physiological instantaneous rotation center is constantly changing. However, the rotation center of the current artificial intervertebral disc does not conform to the characteristics of a normal intervertebral disc under physiological conditions. This will reduce the movement quality of the segment, cause abnormal load sharing of the uncovertebral joint, facet joint and soft tissue, lead to postoperative pain, accelerated degeneration, and affect the surgical efficacy of CDR.
发明内容Summary of the invention
本发明所解决的技术问题：提供一种椎间盘假体旋转中心自动调节系统，解决现有的人工椎间盘旋转中心不能调节的问题。The technical problem solved by the present invention is to provide an automatic adjustment system for the rotation center of an intervertebral disc prosthesis, so as to solve the problem that the rotation center of the existing artificial intervertebral disc cannot be adjusted.
本发明解决上述技术问题采用的技术方案：椎间盘假体旋转中心自动调节系统，所述椎间盘假体安装于相邻椎体之间，所述椎间盘假体包含位置可调节的髓核假体，所述髓核假体用于调整椎间盘假体运动的旋转中心的位置；The present invention solves the above technical problems by adopting a technical solution: an automatic adjustment system for the rotation center of an intervertebral disc prosthesis, wherein the intervertebral disc prosthesis is installed between adjacent vertebrae, and the intervertebral disc prosthesis includes a position-adjustable nucleus pulposus prosthesis, and the nucleus pulposus prosthesis is used to adjust the position of the rotation center of the intervertebral disc prosthesis;
所述椎间盘假体旋转中心自动调节系统包括位姿传感器、中央处理器、电源模块、数据存储模块和髓核假体驱动装置；The intervertebral disc prosthesis rotation center automatic adjustment system includes a posture sensor, a central processing unit, a power module, a data storage module and a nucleus pulposus prosthesis driving device;
所述位姿传感器用于检测椎间盘假体的位姿信息；The posture sensor is used to detect the posture information of the intervertebral disc prosthesis;
所述中央处理器根据位姿传感器数据调取髓核假体的位置，并通过髓核假体驱动装置使得髓核假体位于所述调取髓核假体的位置；The central processing unit retrieves the position of the nucleus pulposus prosthesis according to the posture sensor data, and places the nucleus pulposus prosthesis at the retrieved position of the nucleus pulposus prosthesis through the nucleus pulposus prosthesis driving device;
所述电源模块用于供电；The power module is used for supplying power;
所述数据存储模块用于存储数据，所述存储数据包括椎体位姿信息及其对应的髓核假体的预设位置。The data storage module is used to store data, and the stored data includes vertebral posture information and the corresponding preset position of the nucleus pulposus prosthesis.
进一步的，所述椎间盘假体旋转中心自动调节系统还包括至少两个位移传感器，所述位移传感器用于采集椎间盘假体上的点的位置；所述存储数据还包括椎体位姿信息及其对应的旋转中心预设位置；所述中央处理器还用于通过两个位移传感器的数据计算出椎间盘假体的旋转中心位置，并判断所述计算出椎间盘假体的旋转中心位置与旋转中心预设位置是否在误差范围内，如果不在误差范围内，则对存储的髓核假体的位置进行调整。Furthermore, the automatic adjustment system for the rotation center of the intervertebral disc prosthesis also includes at least two displacement sensors, which are used to collect the positions of points on the intervertebral disc prosthesis; the stored data also includes vertebral posture information and its corresponding preset position of the rotation center; the central processing unit is also used to calculate the rotation center position of the intervertebral disc prosthesis through the data of the two displacement sensors, and determine whether the calculated rotation center position of the intervertebral disc prosthesis and the preset position of the rotation center are within the error range, and if not within the error range, adjust the stored position of the nucleus pulposus prosthesis.
进一步的，所述对存储的髓核假体的位置进行调整，包括以下步骤：Furthermore, the adjusting the position of the stored nucleus pulposus prosthesis comprises the following steps:
S01、通过髓核假体驱动装置将髓核假体置于髓核假体可调位置范围的中心；S01, placing the nucleus pulposus prosthesis at the center of the adjustable position range of the nucleus pulposus prosthesis by means of a nucleus pulposus prosthesis driving device;
S02、在人体进行运动时，椎体的位姿信息会相应的变化，将椎体的位姿信息变化进行微分，得到椎体的多个位姿点；S02. When the human body is moving, the posture information of the vertebral body will change accordingly, and the change of the posture information of the vertebral body is differentiated to obtain multiple posture points of the vertebral body;
S03、针对椎体的每个位姿点，中央处理器通过髓核假体驱动装置调整髓核假体的位置；S03, for each position point of the vertebral body, the central processing unit adjusts the position of the nucleus pulposus prosthesis through the nucleus pulposus prosthesis driving device;
S04、通过两个位移传感器采集椎间盘假体的两个点的位置，通过椎体的相邻位姿点中的两个点的位置连线中垂线的交点确定旋转中心的位置，并判断确定的旋转中心位置与旋转中心预设位置是否在误差范围内；S04, collecting the positions of two points of the intervertebral disc prosthesis through two displacement sensors, determining the position of the rotation center through the intersection of the perpendicular lines of the lines connecting the positions of the two points in the adjacent posture points of the vertebral body, and judging whether the determined position of the rotation center and the preset position of the rotation center are within the error range;
S05、如果不在，则重复S03和S04，直到确定的旋转中心位置与预设的位置在误差范围内；S05, if not, repeat S03 and S04 until the determined rotation center position and the preset position are within the error range;
S06、如果在，则将椎体当前位姿点对应的髓核假体位置替换掉已存储的当前位姿点对应的髓核假体位置，作为中央处理器调节髓核假体位置的新依据。S06. If yes, the nucleus pulposus prosthesis position corresponding to the current posture point of the vertebral body is replaced with the nucleus pulposus prosthesis position corresponding to the stored current posture point, which is used as a new basis for the central processor to adjust the nucleus pulposus prosthesis position.
进一步的，所述椎体位姿信息及其对应的旋转中心预设位置以及椎体位姿信息及其对应的髓核假体的预设位置通过生理性运动重建系统获得。Furthermore, the vertebral posture information and its corresponding preset position of the rotation center as well as the vertebral posture information and its corresponding preset position of the nucleus pulposus prosthesis are obtained through a physiological motion reconstruction system.
进一步的，所述椎间盘假体旋转中心自动调节系统还包括数据传输模块，所述数据传输模块用于传输椎体位姿信息及其对应的旋转中心预设位置以及椎体位姿信息及其对应的髓核假体的预设位置。Furthermore, the intervertebral disc prosthesis rotation center automatic adjustment system also includes a data transmission module, which is used to transmit vertebral posture information and its corresponding rotation center preset position and vertebral posture information and its corresponding nucleus pulposus prosthesis preset position.
进一步的，所述位姿信息包括旋转角度和移动距离。Furthermore, the posture information includes a rotation angle and a moving distance.
本发明的有益效果：本发明椎间盘假体旋转中心自动调节系统，通过生理性运动重建系统获取椎体位姿信息及其对应的髓核假体的预设位置，并通过位姿传感器检测椎间盘假体的位姿信息，根据位姿传感器数据调取髓核假体的位置，并通过髓核假体驱动装置使得髓核假体位于所述调取髓核假体的位置，即通过控制髓核假体的位置从而改变椎间盘假体的旋转中心，解决了现有的人工椎间盘旋转中心不能调节的问题。Beneficial effects of the present invention: The automatic adjustment system for the rotation center of the intervertebral disc prosthesis of the present invention obtains vertebral posture information and its corresponding preset position of the nucleus pulposus prosthesis through a physiological motion reconstruction system, and detects the posture information of the intervertebral disc prosthesis through a posture sensor, calls the position of the nucleus pulposus prosthesis according to the posture sensor data, and makes the nucleus pulposus prosthesis located at the called position of the nucleus pulposus prosthesis through a nucleus pulposus prosthesis driving device, that is, the rotation center of the intervertebral disc prosthesis is changed by controlling the position of the nucleus pulposus prosthesis, thereby solving the problem that the rotation center of the existing artificial intervertebral disc cannot be adjusted.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
附图1是本发明椎间盘假体旋转中心自动调节系统的电路结构框图。FIG1 is a circuit structure block diagram of the automatic adjustment system for the rotation center of the intervertebral disc prosthesis of the present invention.
具体实施方式Detailed ways
本发明椎间盘假体旋转中心自动调节系统中所述的椎间盘假体安装于相邻椎体之间，所述椎间盘假体包含位置可调节的髓核假体，所述髓核假体用于调整椎间盘假体运动的旋转中心的位置；The intervertebral disc prosthesis described in the intervertebral disc prosthesis rotation center automatic adjustment system of the present invention is installed between adjacent vertebral bodies, and the intervertebral disc prosthesis includes a position-adjustable nucleus pulposus prosthesis, and the nucleus pulposus prosthesis is used to adjust the position of the rotation center of the intervertebral disc prosthesis movement;
所述椎间盘假体旋转中心自动调节系统，如附图1所示，包括位姿传感器、中央处理器、电源模块、数据存储模块和髓核假体驱动装置；The intervertebral disc prosthesis rotation center automatic adjustment system, as shown in FIG1 , includes a posture sensor, a central processing unit, a power module, a data storage module and a nucleus pulposus prosthesis drive device;
所述位姿传感器用于检测椎间盘假体的位姿信息；The posture sensor is used to detect the posture information of the intervertebral disc prosthesis;
所述中央处理器根据位姿传感器数据调取髓核假体的位置，并通过髓核假体驱动装置使得髓核假体位于所述调取髓核假体的位置；The central processing unit retrieves the position of the nucleus pulposus prosthesis according to the posture sensor data, and places the nucleus pulposus prosthesis at the retrieved position of the nucleus pulposus prosthesis through the nucleus pulposus prosthesis driving device;
所述电源模块用于供电；The power module is used for supplying power;
所述数据存储模块用于存储数据，所述存储数据包括椎体位姿信息及其对应的髓核假体的预设位置。The data storage module is used to store data, and the stored data includes vertebral posture information and the corresponding preset position of the nucleus pulposus prosthesis.
具体的，椎体位姿信息及其对应的髓核假体的预设位置通过生理性运动重建系统获得，所述生理性运动重建系统包括CT重建、运动模拟、寻找旋转中心和确定髓核假体的预设位置，具体过程如下：首先获取需要植入椎间盘假体患者的脊柱CT图，重建脊柱模型，然后利用脊柱模型进行运动模拟，模拟患者的所有动作，即可获得所有动作对应的脊柱运动情况，从而获得相应的需要植入的椎间盘假体的位姿信息，对椎间盘假体的位姿信息进行微分，获得椎体的多个位姿点，针对椎体的每个位姿点，通过椎体的相邻位姿点中的两个点的位置连线中垂线的交点确定旋转中心的位置，即获得椎体位姿点与旋转中心的对应关系，再将脊柱模型中的相应椎间盘替换为椎间盘假体，通过设定不同的髓核假体位置，进行运动模拟，当计算出的椎间盘假体的当前位姿点的旋转中心与所确定的旋转中心的位置在误差范围内，则当前的髓核假体位置为椎体当前位姿点对应的髓核假体的预设位置。Specifically, the vertebral posture information and the corresponding preset position of the nucleus pulposus prosthesis are obtained through a physiological motion reconstruction system, which includes CT reconstruction, motion simulation, finding the rotation center and determining the preset position of the nucleus pulposus prosthesis. The specific process is as follows: first, a spinal CT image of a patient who needs to implant an intervertebral disc prosthesis is obtained, a spinal model is reconstructed, and then the spinal model is used to perform motion simulation. By simulating all the patient's movements, the spinal motion conditions corresponding to all the movements can be obtained, thereby obtaining the corresponding posture information of the intervertebral disc prosthesis that needs to be implanted, and the posture information of the intervertebral disc prosthesis is analyzed. Differentiation is performed to obtain multiple posture points of the vertebra. For each posture point of the vertebra, the position of the rotation center is determined by the intersection of the perpendicular bisectors of the lines connecting the positions of two points in the adjacent posture points of the vertebra, that is, the corresponding relationship between the vertebral posture point and the rotation center is obtained. Then the corresponding intervertebral disc in the spinal model is replaced by the intervertebral disc prosthesis, and motion simulation is performed by setting different positions of the nucleus pulposus prosthesis. When the calculated rotation center of the current posture point of the intervertebral disc prosthesis and the determined rotation center are within the error range, the current nucleus pulposus prosthesis position is the preset position of the nucleus pulposus prosthesis corresponding to the current posture point of the vertebra.
当人体在运动时，椎间盘假体的位姿信息会相应的变化，利用位姿传感器检测椎间盘假体的实时位姿信息，中央处理器根据所述实时位姿在数据存储模块中调取髓核假体的位置，并通过髓核假体驱动装置使得髓核假体位于所述调取髓核假体的位置，实现跟随人体运动的实时情况控制髓核假体的位置从而改变椎间盘假体的旋转中心，使得椎间盘假体的旋转中心实际位置与模拟运动计算出的旋转中心预设位置在误差范围内。When the human body is in motion, the posture information of the intervertebral disc prosthesis will change accordingly. The posture sensor is used to detect the real-time posture information of the intervertebral disc prosthesis. The central processing unit retrieves the position of the nucleus pulposus prosthesis in the data storage module according to the real-time posture, and the nucleus pulposus prosthesis is located at the retrieved position of the nucleus pulposus prosthesis through the nucleus pulposus prosthesis driving device, so as to control the position of the nucleus pulposus prosthesis in real time following the movement of the human body, thereby changing the rotation center of the intervertebral disc prosthesis, so that the actual position of the rotation center of the intervertebral disc prosthesis and the preset position of the rotation center calculated by the simulated motion are within the error range.
进一步的，所述椎间盘假体旋转中心自动调节系统还包括至少两个位移传感器，所述位移传感器用于采集椎间盘假体上的点的位置；所述存储数据还包括椎体位姿信息及其对应的旋转中心预设位置；所述中央处理器还用于通过两个位移传感器的数据计算出椎间盘假体的旋转中心位置，并判断所述计算出椎间盘假体的旋转中心位置与旋转中心预设位置是否在误差范围内，如果不在误差范围内，则对存储的髓核假体的位置进行调整。Furthermore, the automatic adjustment system for the rotation center of the intervertebral disc prosthesis also includes at least two displacement sensors, which are used to collect the positions of points on the intervertebral disc prosthesis; the stored data also includes vertebral posture information and its corresponding preset position of the rotation center; the central processing unit is also used to calculate the rotation center position of the intervertebral disc prosthesis through the data of the two displacement sensors, and determine whether the calculated rotation center position of the intervertebral disc prosthesis and the preset position of the rotation center are within the error range, and if not within the error range, adjust the stored position of the nucleus pulposus prosthesis.
具体的，由于人体在植入椎间盘假体后的生长愈合，可能会使得椎体的同一个位姿点对应的髓核假体位置和旋转中心位置不一致的情况，因此，可以通过增加至少两个位移传感器，通过中央处理器来调取两个位移传感器的数据，两个传感器的调取依据为：相邻位姿点传感器数据变化最大的两个传感器，通过两个点的位移中垂线的交点确定旋转中心的实际位置，并判断旋转中心实际位置是否还在旋转中心预设位置的误差范围内，以此可以实现对髓核假体的位置进行校正。Specifically, due to the growth and healing of the human body after the implantation of the intervertebral disc prosthesis, the position of the nucleus pulposus prosthesis corresponding to the same posture point of the vertebral body may be inconsistent with the position of the rotation center. Therefore, at least two displacement sensors can be added, and the data of the two displacement sensors can be retrieved by the central processing unit. The basis for retrieving the two sensors is: the two sensors with the largest sensor data changes at adjacent posture points, the actual position of the rotation center is determined by the intersection of the perpendicular lines of the displacement of the two points, and it is determined whether the actual position of the rotation center is still within the error range of the preset position of the rotation center, so that the position of the nucleus pulposus prosthesis can be corrected.
进一步的，所述对存储的髓核假体的位置进行调整，包括以下步骤：Furthermore, the adjusting the position of the stored nucleus pulposus prosthesis comprises the following steps:
S01、通过髓核假体驱动装置将髓核假体置于髓核假体可调位置范围的中心；S01, placing the nucleus pulposus prosthesis at the center of the adjustable position range of the nucleus pulposus prosthesis by means of a nucleus pulposus prosthesis driving device;
S02、在人体进行运动时，椎体的位姿信息会相应的变化，将椎体的位姿信息变化进行微分，得到椎体的多个位姿点；S02. When the human body is moving, the posture information of the vertebral body will change accordingly, and the change of the posture information of the vertebral body is differentiated to obtain multiple posture points of the vertebral body;
具体的，微分规则与生理性运动重建系统中的微分规则一致。Specifically, the differentiation rules are consistent with the differentiation rules in the physiological motion reconstruction system.
S03、针对椎体的每个位姿点，中央处理器通过髓核假体驱动装置调整髓核假体的位置；S03, for each position point of the vertebral body, the central processing unit adjusts the position of the nucleus pulposus prosthesis through the nucleus pulposus prosthesis driving device;
具体的，在步骤S03中，可以通过随机调整髓核假体的位置，也可以按照不同的方向依次调节髓核假体的位置，通过旋转中心的位置远离或者靠近旋转中心预设位置来改变髓核假体的调节方向。Specifically, in step S03, the position of the nucleus pulposus prosthesis may be randomly adjusted or adjusted in sequence in different directions, and the adjustment direction of the nucleus pulposus prosthesis may be changed by moving the position of the rotation center away from or close to a preset position of the rotation center.
S04、通过两个位移传感器采集椎间盘假体的两个点的位置，通过椎体的相邻位姿点中的两个点的位置连线中垂线的交点确定旋转中心的位置，并判断确定的旋转中心位置与预设的位置是否在误差范围内；S04, collecting the positions of two points of the intervertebral disc prosthesis through two displacement sensors, determining the position of the rotation center through the intersection of the perpendicular lines of the position lines of the two points in the adjacent posture points of the vertebral body, and judging whether the determined rotation center position is within the error range with the preset position;
S05、如果不在，则重复S03和S04，直到确定的旋转中心位置与预设的位置在误差范围内；S05, if not, repeat S03 and S04 until the determined rotation center position and the preset position are within the error range;
S06、如果在，则将椎体当前位姿点对应的髓核假体位置替换掉已存储的当前位姿点对应的髓核假体位置，作为中央处理器调节髓核假体位置的新依据。S06. If yes, the nucleus pulposus prosthesis position corresponding to the current posture point of the vertebral body is replaced with the nucleus pulposus prosthesis position corresponding to the stored current posture point, which is used as a new basis for the central processor to adjust the nucleus pulposus prosthesis position.
进一步的，所述椎间盘假体旋转中心自动调节系统还包括数据传输模块，所述数据传输模块用于传输椎体位姿信息及其对应的旋转中心预设位置以及椎体位姿信息及其对应的髓核假体的预设位置。Furthermore, the intervertebral disc prosthesis rotation center automatic adjustment system also includes a data transmission module, which is used to transmit vertebral posture information and its corresponding rotation center preset position and vertebral posture information and its corresponding nucleus pulposus prosthesis preset position.
具体的，这样做的好处可以更加方便的重置或调节髓核假体的位置预计旋转中心的预设位置，也可以将所述数据调出，作为另一个椎间盘假体中调节髓核假体位置的依据。Specifically, the advantage of doing so is that the position of the nucleus pulposus prosthesis can be reset or adjusted more conveniently to the preset position of the rotation center, and the data can also be retrieved as a basis for adjusting the position of the nucleus pulposus prosthesis in another intervertebral disc prosthesis.
进一步的，所述位姿信息包括旋转角度和移动距离。Furthermore, the posture information includes a rotation angle and a moving distance.
具体的，旋转角度为椎间盘假体相对于下方椎体的在竖直方向和水平方向上的旋转角度，移动距离为椎间盘假体相对于下方椎体的相对位移。Specifically, the rotation angle is the rotation angle of the intervertebral disc prosthesis relative to the underlying vertebral body in the vertical direction and the horizontal direction, and the moving distance is the relative displacement of the intervertebral disc prosthesis relative to the underlying vertebral body.
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