CN207745199U - Attitude data measuring device and the system using the device in replacement of total hip - Google Patents

Abstract

The utility model relates to a posture data measuring device in total hip replacement surgery and a system utilizing the device. The measuring device includes: a pelvis initial posture measuring device, a pelvic dynamic measuring device and a prosthesis installation angle measuring device, wherein motion sensors are arranged , the system includes the posture data measurement device, a data processing module, a data transmission module and an in vitro processing module, the measurement device can measure the original posture data information when the hip replacement is performed, and the system can accurately obtain real-time pelvis data according to the posture data. The posture information and the angle information of the acetabular prosthesis relative to the pelvis enable the doctor to place the acetabular prosthesis relatively accurately during the operation, thereby greatly improving the success rate and surgical efficacy of hip replacement.

Description

Device for measuring posture data in total hip arthroplasty and system using the device

technical field

The utility model belongs to the technical field of medical electronics, in particular to a device for measuring posture data in total hip joint replacement and a system utilizing the device.

Background technique

With the growth of population and the continuous development of population aging trend, artificial joint replacement surgery is more and more. Taking hip replacement as an example, it is mainly applicable to osteoarthritis, aseptic bone necrosis (such as femoral head necrosis, etc.), certain hip fractures (such as femoral neck fracture), rheumatoid arthritis, traumatic Arthritis, benign and malignant bone tumors, ankylosing spondylitis, etc., are widely used.

In a total hip replacement, the dead acetabular cup and femoral head are removed and replaced with an artificial prosthesis. An important aspect during the replacement process is ensuring proper alignment of the acetabular prosthesis with respect to the pelvis. Research has shown that failure of an acetabular component or implant to properly align with the pelvis can lead to premature wear, propensity for dislocation, and patient discomfort. However, in today's total hip replacement surgery, the biggest problem facing the surgeon is how to determine the posture of the pelvis and the alignment of the acetabular component relative to the pelvis.

In total hip replacement, the pelvis should be used as a reference when the acetabular prosthesis is implanted. For example, the axis of the acetabular cup should form a certain angle with the pelvis. The two most important angles are anteversion and abduction. In terms of anatomical definition, for most patients, the safe range of the installation angle of the acetabular prosthesis relative to the pelvis is: anteversion angle 5°-25° abduction angle 30°-50°, in total hip replacement surgery, surgical The doctor will suitably refine these two angles according to the specific situation of the patient. However, in the current operation, the posture of the pelvis is difficult to determine, and the patient is covered by a sterile surgical drape, and it is difficult to accurately measure the installation angle of the acetabular prosthesis relative to the pelvis. The plane of the operating table is used as a reference, which will bring relatively large errors to the determination of the installation angle of the acetabular prosthesis.

Contents of the invention

In order to overcome the above-mentioned shortcomings of the prior art, the purpose of this utility model is to provide a posture data measuring device in total hip arthroplasty and a system using the device. Data information, the system can accurately obtain real-time pelvic posture information and the angle information of the acetabular prosthesis relative to the pelvis according to the posture data, so that the doctor can place the acetabular prosthesis relatively accurately during the operation, thereby greatly improving hip replacement surgery. success rate and surgical outcomes.

In order to achieve the above object, the technical solution adopted by the utility model is:

A device for measuring posture data during total hip replacement, comprising:

The pelvis initial posture measuring device comprises a rotating shaft 31, and one end of three stretchable arms 33 with scale lines 32 is installed on the rotating shaft 31, wherein the other end of two is provided with a fixed foot 34, and the other end of the other A motion sensor module 1 35 is provided;

The pelvic dynamic measuring device comprises a fixed pin 22, and the tail end of the fixed pin 22 is provided with a motion sensor module 2 21;

The prosthesis installation angle measuring device includes a motion sensor module 3 12 installed on the acetabular prosthesis 11.

The first motion sensor module 35 , the second motion sensor module 21 and the third motion sensor module 12 have the same structure, and all include a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer.

The utility model also provides a system utilizing the posture data measuring device in the total hip replacement operation, including:

The attitude data measuring device;

The data processing module is arranged in the attitude data measuring device, and is used for storing the collected data in a buffer zone;

The data transmission module is arranged in the attitude data measuring device and is used to send the data in the buffer to the external receiver;

The in vitro processing module is used to process the data sent by the data transmission module, and then calculate and obtain the required attitude and angle information.

The data processing module is implemented by an MCU, the data transmission module uses WIFI/Bluetooth to transmit sensor data, and the in vitro processing module includes a computer or a tablet computer for calculating the pelvic posture and prosthesis installation angle.

The use of the utility model will bring great convenience for doctors to perform total hip joint replacement operation, and further improve the success rate of operation and treatment effect.

Description of drawings

Fig. 1 is a schematic structural diagram of a prosthesis installation angle measuring device in the measuring device of the present invention.

Fig. 2 is a schematic structural diagram of the real-time posture measurement device for the pelvis in the measurement device of the present invention.

Fig. 3 is a schematic structural diagram of the pelvis initial attitude measuring device in the measuring device of the present invention.

Fig. 4 Schematic diagram of pelvic structure and prosthesis installation angle.

Fig. 5 is the hardware functional block diagram of the utility model system.

Fig. 6 is a flowchart of attitude calculation of the utility model.

Fig. 7 is a flow chart of calculating the pelvic posture and the installation angle of the prosthesis in the system of the present invention.

Detailed ways

The implementation of the utility model will be described in detail below in conjunction with the accompanying drawings and examples.

The utility model provides a device for measuring posture data in total hip replacement surgery and a system using the device, which can measure the pelvic posture and prosthesis installation angle in real time during total hip replacement surgery, and provide surgeons with Surgical operation brings convenience.

A structure of the measuring device of the present invention is shown in Figures 1-3, wherein Figure 1 is a device for measuring the installation angle of a prosthesis, Figure 2 is a device for measuring the real-time attitude of the pelvis, and Figure 3 is the device for measuring the initial attitude of the pelvis. Acetabular cup prosthesis 11 is fixed with sensor module three 12 among Fig. 1, and sensor module three 12 has its sensor and MCU and other elements 13 used on it, and among Fig. 2, fixation pin 22 will be fixed on the pelvis during operation, and its There are two sensor modules 21 at the tail end. In Fig. 3, three stretchable arms 33 with scale marks 32 are installed on the rotating shaft 31, the tail ends of the two arms 33 are fixed pins 34, the tail end of the other arm 33 is a sensor module one 35, and the rotating shaft 31 and fixed feet 34 are used to fix the device on the front plane of the pelvis, and the scale line 32 is used to characterize the length of the stretching arm 33.

For the convenience of the following description, now briefly introduce the pelvic structure and the installation angle of the prosthesis, as shown in Figure 4. The characteristic points A and B in the figure are the left anterior superior iliac spine and the right anterior superior iliac spine, and the characteristic point C is the pubic symphysis. The anterior plane of the pelvis is represented by these three points. P in the figure is the pelvic coordinate system, its X-axis is perpendicular to the front plane of the pelvis, the Y-axis points from A to B, and the Z-axis is perpendicular to the plane formed by the X-axis and the Y-axis. In Figure 4, α is the abduction angle, which is the angle between the projection b of the acetabular cup axis a on the cross-section (pelvic XY plane) and the pelvic Y axis, and β is the anteversion angle, which is the angle between the acetabular cup axis a and the Y axis of the pelvis. The angle between the Z axes of the pelvis.

The operation flow of the doctor using this embodiment in the total pulp joint replacement operation is as follows:

Step 1. The doctor removes the patient's acetabular necrosis and diseased part;

Step 2. Place the patient in a comfortable position and ensure that the anterior plane of the pelvis is in a measurable position;

Step 3. Fix the dynamic measurement device II on the intact side of the pelvis;

Step 3. The doctor places the fixed rotation axis 31 of the measuring device III on the pubic symphysis, adjusts the length of the stretch rod to make the device length meet the patient's pelvic measurement needs, and ensures that the two fixed feet 34 are respectively fixed on the left and right anterior superior iliac spines superior;

Step 4. The doctor turns on the computer and the corresponding program, places the module 35 of the pelvic initial measurement device on the A-side anterior superior iliac spine, records the posture D ₁ of the measurement module at this time by pressing the button, and then calculates the vector of the axial CA and on the anterior plane of the pelvis with vertical vector Rotate around the rotation axis to the anterior superior iliac spine B on the other side, and also record the posture D ₂ of the measurement module at this place, and also obtain and Depend on and The normal vector of the front plane of the pelvis can be determined, that is, the vector value of the X-axis of the pelvis in the earth coordinate system when it is in this state pass and You can get the vector value of the Y axis of the pelvis in the earth coordinate system in this state According to the right-hand rule of the coordinate system, the vector value of the Z-axis of the pelvis in the earth coordinate system can be determined Furthermore, the attitude of the pelvis relative to the earth coordinate system in this state can be calculated, that is, the initial attitude of the pelvis P ₀ (ω _x ,ω _y ,ω _z ).

ω _y = arcsin(-z′(1) _p )

In the formula, z′(1) _p represents The first value of the vector, the others are similar, ω _x is determined by ω _x1 and ω _x2 according to the angle range, similarly, ω _z is determined by ω _z1 and ω _z2 according to the angle range.

Step 5. While performing step 4, the posture of the pelvic dynamic measurement device is also obtained at the same time. By solving the problem, the transformation matrix between the device and the initial posture of the pelvis can be obtained

In the formula, angle2dcm represents the transformation equation for transforming Euler angles into rotation matrices.

Step 6. Place the patient in a state that is convenient for surgery. At this time, the real-time posture of the pelvis can be determined by the posture D _t of the fixed pelvic dynamic measurement device and the posture conversion relationship between the device and the pelvis The real-time posture P _t of the pelvis can be obtained.

Step 7. The doctor places the acetabular cup prosthesis with the sensor module, the axis of the prosthesis It can be obtained from the attitude calculation of the module, and then the abduction angle α and the forward inclination angle β can be obtained according to the definition of the installation angle.

In the formula, Indicates the axis of the prosthesis Vector values in the pelvic coordinate system, express Projected values on the cross-section, and Represent the pelvic y-axis vector and z-axis vector, respectively.

Steps 4 to 7 can be summarized as the solution flow chart shown in Figure 7.

Step 8. Take out the sensor module on the acetabular cup to complete the measurement of the prosthesis installation angle.

The principle of the hardware part of this embodiment is shown in FIG. 5 , which is divided into a data acquisition module (sensor module), a data processing module, and a data transmission module according to functions. Wherein, the measurement device of the utility model is divided into an attitude data acquisition module and a data acquisition module according to functions. The motion sensor used to obtain attitude information is the data acquisition part.

The following describes the hardware part of the workflow:

Step 1. The battery supplies power to each module;

Step 2. The data processing module configures the motion sensor by the MCU;

Step 3. Store the data collected by the motion sensor in the buffer;

Step 4. After completing the data collection, send the data in wireless (WIFI/Bluetooth) mode;

Step 5. After the sending is completed, jump to step 3 and repeat the cycle.

The calculation part of this embodiment is mainly implemented in an in vitro processor, such as the computer shown in FIG. 5 . Complete attitude and angle calculation and display, the workflow is as follows:

Step 1. The computer receives the mixed data from the hardware and splits it into acceleration data, geomagnetic data and angular velocity data;

Step 2. Calculate the attitude of the modules in each measuring device, the attitude calculation process is shown in Figure 6;

Step 3. Carry out the initial posture measurement of the pelvis according to the data collected by the device III, and obtain the real-time posture of the pelvis by obtaining the conversion relationship between the posture of the pelvis and the device II;

Step 4. Calculate the axis vector of the acetabular cup according to the sensor data on the acetabular cup, and calculate the prosthesis installation angle according to the relationship between the axis and the real-time posture of the pelvis obtained in step 4;

Step 5. Display the finally obtained attitude and angle data in a way that is easy to understand intuitively.

After the above work is completed, the doctor can ensure that the artificial acetabulum is installed at the right angle, and then complete the hip replacement surgery.

Claims (4)

1. attitude data measuring device in a kind of replacement of total hip, which is characterized in that including：

Pelvis initial attitude measuring device, including rotary shaft (31), three stretchable arms (33) with graduation mark (32) One end is mounted in rotary shaft (31), and the other end of two of which is provided with fixed feet (34), and another other end is provided with Motion sensor module one (35)；

Pelvis dynamic measurement device, including fixed pin (22), the tail end of fixed pin (22) are provided with motion sensor module two (21)；

Prosthese setting angle measuring device, including the motion sensor module three (12) that is mounted on acetabular component (11).

2. attitude data measuring device in replacement of total hip according to claim 1, which is characterized in that the movement passes Sensor module one (35), motion sensor module two (21) are identical with the structure of motion sensor module three (12), include three Axis accelerometer, three-axis gyroscope and three axle magnetometer.

3. utilizing the system of attitude data measuring device in replacement of total hip described in claim 1, which is characterized in that packet It includes：

The attitude data measuring device；

Data processing module is set in attitude data measuring device, for by the data of acquisition, there are buffering areas；

Data transmission module is set in attitude data measuring device, for the data in buffering area to be sent to external reception Device；

Extracorporeal treatment module, for handling the data that data transmission module is sent, and then resolve obtain required posture and Angle information.

4. system according to claim 3, which is characterized in that the data processing module realized by a MCU, the data Sensing data is transmitted by transmission module using WIFI/ bluetooths, the extracorporeal treatment module, including be used for pelvis posture and The computer or tablet computer that prosthese setting angle resolves.