Positioning measurement device and measurement method for hip replacement surgery

Abstract

The present invention provides a positioning measurement device and measurement method for hip replacement surgery, which uses high-precision sensors and high-performance microprocessors for measurement to solve the problems of manual errors and body position errors in measurement; with the help of corresponding supporting tools, it is installed and fixed on the anterior superior iliac spine of the patient's hip joint pelvis and moves with the pelvis to perform measurements, and the target of measurement is the patient himself to reduce the impact of the patient's standing posture on the data. The present invention allows surgery to have greater flexibility. On the one hand, the surgical plan can be planned in advance according to the patient's specific situation, and the supine and lateral positions can be selected; on the other hand, data can also be measured in real time during the operation, and two-way data comparison and verification can be performed to achieve better clinical efficacy and reduce the chance of secondary surgery. The present invention is based on a three-dimensional motion data model, and accurately obtains the position plane of the human body's coronal plane based on the three-dimensional motion data, so the processing of angles is more accurate.

Description

Technical Field

[0001] The present invention belongs to the field of medical devices, and in particular relates to a positioning measurement device and a measurement method for hip replacement surgery. Background Art

[0002] Total hip replacement is a new surgical procedure that has emerged in recent years. It is based on traditional total hip replacement and improves the surgical approach, operation method and operation tools to complete the installation and replacement of hip prosthesis within a relatively small incision (5-10 cm). The goal of total hip replacement is to reconstruct a stable, load-bearing and long-term effective hip joint with good mobility. With the improvement of joint prostheses and the advancement of surgical technology, it is no longer a problem for prostheses to survive in the body for 10-20 years. However, the current trend of joint replacement patients is showing a younger trend, which puts higher demands on the service life of the joint. The same joint prosthesis, different placement positions and angles will bring different stress conduction patterns. Only precise reconstruction of the hip joint can achieve the maximum service life.

[0003] The core component of an artificial joint prosthesis is the friction interface, which is composed of two friction pairs: the inner liner, commonly made of polyethylene, highly cross-linked polyethylene, ceramic, and metal; and the ball head, commonly made of metal and ceramic, although some composite materials, such as black crystal, are also available. The other components of a hip joint include the acetabular cup and femoral stem, both of which are designed to secure the friction pair. Neither ceramic nor polyethylene liners allow direct bone ingrowth, so a metal outer cup is designed to support the inner liner, allowing bone ingrowth to occur on the outer cup surface. Similarly, the femoral stem also serves to support the femoral head. Furthermore, the installation angle and position of the hip prosthesis also have a crucial impact on the prosthesis' lifespan and clinical function. Improper installation of the acetabular prosthesis can lead to dislocation, edge impingement, increased wear, and changes in the range of motion.

[0004] Currently, the following problems often occur after hip replacement surgery: 1. Failure to achieve initial stability after implantation of the acetabular prosthesis, leading to acetabular loosening; 2. Excessive anteversion or abduction of the acetabular cup, leading to wear; 3. The acetabular cup is installed too deep or too shallow, resulting in an unstable fit. These problems are largely caused by inaccurate positioning and measurement during surgery. According to literature reports, the safe acetabular placement angle, i.e., an abduction angle AI (the angle between the acetabular axis and the long axis of the body) of 30° to 50°, and an anteversion angle AA (the angle between the projection of the acetabular axis on the transverse plane of the body and the transverse axis of the body) of 5° to 25°, are recommended by most joint surgeons. The anatomical acetabular abduction angle in adults in Guangxi, China, is approximately 50°. Studies have shown that reconstructing an acetabular abduction angle between 45° and 55° can maximize the restoration of hip function and hip range of motion, while also reducing wear on the friction interface and prosthesis loosening.

[0005] In the prior art, in order to obtain the patient's abduction angle and anteversion angle, a personalized template is designed and produced based on the three-dimensional digital model of the patient's CT data and characteristic bone landmarks before the operation. The reference area of the patient's real bone structure is integrated into the template, which is equivalent to marking the template, facilitating accurate identification and alignment of the template and the bone structure. Then, in the CT image taken from the bottom of the patient's foot, the patient's anteversion angle is obtained by measurement and calculation using a ruler; in the CT image taken from the front of the patient, the patient's abduction angle is obtained by measurement and calculation using a ruler. During the operation, the corresponding acetabular angle installation handle is used to cooperate with the doctor's rich surgical experience to install the acetabular prosthesis.

[0006] However, the above-mentioned positioning measurement scheme in the prior art has the following disadvantages: 1. The data is measured by a ruler, which inevitably results in manual errors and posture errors; 2. The measurement target is the patient's CT scan, and the patient's standing posture has a great influence on the data; 3. The scheme is established on the basis of a two-dimensional plane, and there are errors in the establishment of the patient's three-dimensional data; 4. There are also errors in the pre-operative planning and the actual operation during the operation. There is no actual measurement reference object during the operation, but the swing angle of the tool is directly observed visually with the help of the tool. If a large error occurs, a second operation may be required; 5. There is no dynamic three-dimensional data to verify the scheme, and the patient's acetabular movement is very important for the establishment of knee joint deformity. Summary of the Invention

[0007] In view of the above-mentioned defects of the prior art, the purpose of the present invention is to provide a positioning measurement device and measurement method for hip replacement surgery, which uses high-precision sensors and high-performance microprocessors for measurement to solve the problems of manual errors and body position errors in measurement; with the help of corresponding supporting tools, it is installed and fixed on the anterior superior iliac spine of the patient's hip joint pelvis and moves with the pelvis for measurement, and the target of measurement is the patient himself, so as to reduce the impact of the patient's standing posture on the data. The present invention makes the surgery more flexible. On the one hand, the surgical plan can be planned in advance according to the specific situation of the patient, and the supine position and lateral position can be selected; on the other hand, data can be measured in real time during the operation, and two-way data comparison and verification can be performed to achieve better clinical efficacy and reduce the chance of secondary surgery. The present invention is based on a three-dimensional motion data model, and accurately obtains the position plane of the human body's coronal plane based on the three-dimensional motion data, so the angle processing is more accurate.

[0008] To achieve the above objectives, the present invention provides, in one aspect, a positioning and measuring device for hip replacement surgery, comprising:

[0009] At least two locator modules, namely a reference locator module and a measurement locator module, for measuring and outputting position information data in real time;

[0010] a pelvis calibrator, used for locating the pelvis position to calibrate the locator module;

[0011] A reference locator for fixing the reference locator module;

[0012] The intelligent terminal is used to receive and process the position information data of the locator module to obtain and display in real time the abduction angle and anteversion angle data for indicating the cross-sectional orientation of the acetabulum.

[0013] Furthermore, the locator module includes a housing and a circuit board; the circuit board includes a power supply, a microprocessor, a motion sensor and a wireless communication module.

[0014] Furthermore, the power source is a button battery.

[0015] Furthermore, the circuit board also includes a power switch, which is a mechanical self-locking switch (i.e., a physical switch, not a software-controlled switch), preferably a push-type switch.

[0016] Furthermore, the microprocessor is an embedded programmable controller, such as FPGA, CPLD, single chip microcomputer, etc., which is used to analyze and process data and control other modules on the circuit board.

[0017] Furthermore, the motion sensor includes:

[0018] accelerometer, used to measure acceleration;

[0019] gyroscopes, which measure angular velocity; and

[0020] Magnetometer, used to measure magnetic strength.

[0021] Furthermore, the accelerometer is a three-axis accelerometer that can output acceleration in the three axes of X, Y, and Z; the gyroscope is a three-axis gyroscope that can output angular velocity in the three axes of X, Y, and Z; and the magnetometer is a three-axis magnetometer that can output magnetic strength in the three axes of X, Y, and Z.

[0022] Furthermore, the wireless communication module is selected from one of Bluetooth, WiFi, Zig-Bee or mobile network communication modules, preferably a Bluetooth module.

[0023] Furthermore, the pelvic marker is T-shaped, including a horizontal bar and a vertical bar substantially perpendicular to the horizontal bar.

[0024] Furthermore, the lengths of the horizontal rod and the vertical rod are adjustable.

[0025] Furthermore, the crossbar is provided with a clamp for fixing the locator module.

[0026] Furthermore, the reference locator includes a reference fixing pin and a reference positioning arm connected thereto, and one end of the reference positioning arm is provided with a clamp for fixing the reference locator module.

[0027] Furthermore, the angle of the reference positioning arm relative to the reference fixing pin is adjustable.

[0028] Furthermore, the smart terminal is an integrated electronic device that integrates a wireless receiving module, a data processing module and a display module, such as a desktop computer, a laptop computer, a tablet computer or a smart phone with data receiving, processing and display functions.

[0029] In another aspect, the present invention provides a method for performing measurement using the positioning and measuring device during hip replacement surgery, comprising the following steps:

[0030] Step 1: Perform azimuth and six-plane calibration on the two locator modules;

[0031] Step 2: Insert a reference fixation pin into the lateral side of the acetabulum along the acetabular surgical incision;

[0032] Step 3: Select any one of the two locator modules as a reference locator module, and install the reference locator module on the holder of the pelvic calibrator;

[0033] Step 4: Adjust the horizontal bar of the pelvic calibrator to the same length according to the size of the patient's anterior superior iliac spines on both sides, so that the two ends of the horizontal bar are located at the patient's anterior superior iliac spines on both sides. Adjust the lower end of the vertical bar of the pelvic calibrator to the position of the patient's pubic symphysis. Calibrate the reference locator module while keeping the pelvic calibrator stable and not shaking. Obtain the posture angle data as the patient's initial pelvic data. After the reference locator module calibration is completed, remove the pelvic calibrator and the reference locator module.

[0034] Step 5: Install the calibrated reference locator module on the reference locator holder, adjust the reference locator arm to a suitable angle and secure it.

[0035] Step 6: Select the other of the two locator modules as the measurement locator module, and install the measurement locator module on the holder of the pelvic calibrator;

[0036] Step 7: Place the two ends of the horizontal bar of the pelvic calibrator on the anterior superior iliac spines on both sides of the patient, and the lower end of the vertical bar on the patient's pubic symphysis. Calibrate the measurement and locator module while keeping the pelvic calibrator still to obtain the posture angle data. After the calibration of the measurement and locator module is completed, remove the pelvic calibrator and the measurement and locator module.

[0037] Step 8: Install the calibrated measurement and positioning instrument module on the holder of the acetabulum guide, install the acetabulum guide in the polished acetabulum, adjust the direction of the acetabulum guide, and the intelligent terminal displays the current abduction angle and anteversion angle data in real time;

[0038] Step 9: The acetabular prosthesis is inserted according to the real-time angle data displayed by the smart terminal. Each time the prosthesis is inserted, the abduction angle and anteversion angle data will be updated in real time to help the doctor install the prosthesis more accurately.

[0039] The above attitude angle data includes the roll angle (Roll, usually expressed as φ or ), pitch angle (Pitch, expressed as θ) and yaw angle (Yaw, expressed as ψ), these three angles can describe the accurate posture of an object in space.

[0040] The algorithms involved in obtaining the posture angle, abduction angle, and forward tilt angle data are as follows:

[0041] A. Magnetometer error correction

[0042] The three-axis non-orthogonality, three-axis sensitivity asymmetry, zero point offset and other phenomena existing in the magnetometer will cause errors in the magnetometer output. The present invention corrects the errors by establishing a mathematical compensation model.

[0043] like Figure 1 As shown in Figure 1, assuming that the sensitivity of the three axes (OX, OY, OZ) of the ideal magnetometer is symmetrical and completely orthogonal, the three axes (OX', OY', OZ') of the actual magnetometer have the following corresponding relationship with the ideal three axes: the coordinate axes OZ and OZ' coincide, the coordinate planes YOZ and Y'OZ' are coplanar, the angle between OY and OY' is β, the angle between OX' axis and XOZ is γ, and the angle between OX axis and X'OZ' is α. The output value of the actual magnetometer and the output value of the ideal magnetometer can be expressed by formula (1):

[0044]

[0045] Among them, S is a diagonal matrix representing the sensitivity coefficients, R is a 3×3 upper triangular matrix, which is the expression of the magnetometer vector value converted from the ideal orthogonal coordinate system to the non-orthogonal coordinate system. O is the offset component caused by zero drift in the signal amplification circuit, static measurement noise, etc.

[0046] Perform an inverse transformation on formula (1) to obtain the correction model for correcting the error:

[0047]

[0048] in,

[0049] Considering that the error between the actual coordinate axis and the ideal coordinate axis is only between 0° and 1°, the following approximations can be made: cosα≈1, cosβ≈1, cosγ≈1, sinα≈α, sinβ≈β, sinγ≈γ, sinβsinγ≈0. The correction model can be simply expressed as:

[0050]

[0051] According to formula (3), the neural network structure is designed to estimate 9 parameters, such as Figure 2 As shown in the figure, the neural network structure consists of three layers: input layer (4 nodes), hidden layer (3 nodes), and output layer (1 node). The output of the neural network is expressed as:

[0052]

[0053] M is the ideal output value of the magnetometer, so the error between the actual output value and the ideal value can be obtained.

[0054]

[0055] Let ω=[α,β,γ,S x , S y , S z , b x , b y , b z ] represents the 9 parameters of the neural network. The error back propagation method is used for neural network training. The learning rate a is set between 0.01 and 0.1. The parameters are updated by partial derivative.

[0056] The initial value of the parameter is set to b x =b y =b z =0,α=β=γ=0,S x =S y =S z = 0. The actual values of 15 magnetometers in all directions in the horizontal plane are randomly collected as training samples, and the square error of the training samples is defined as the objective function of the neural network:

[0057]

[0058] When the value of the objective function J is less than the iteration stop condition ε, the neural network reaches convergence and the parameter training ends. Substituting the value into formula (3) will obtain the corrected ideal magnetometer output value.

[0059] B. Attitude angle conversion

[0060] The basic working principle of the magnetometer is as follows: Assume that the ideal magnetic component data of the three axes of the magnetometer is [M bx , M by , M bz ], the roll angle and pitch angle of the carrier (i.e., the locator module) are φ and θ respectively, then:

[0061] X h =M bx ×cosθ+M by ×sinφ×sinθ+M bx cosφ×sinθ

[0062] Y h =M by ×cosφ-M bz ×sinφ

[0063] Among them, X h is the component of the magnetometer on the horizontal X axis, Y h is the component of the magnetometer on the horizontal Y axis, as shown in Figure 3 shown.

[0064] According to the two components obtained above, the magnetic azimuth ψ is calculated according to the following formula M0 :

[0065] 180°-arctan(Y h / X h ) X h <0, Y h <0

[0066] arctan(Y h / X h ) X h >0, Y h <0

[0067] 360°-arctan(Y h / X h ) X h >0, Y h >0

[0068] 180°+arctan(Y h / X h ) X h <0, Y h >0

[0069] 90° X h =0, Y h <0

[0070] 270° X h =0, Y h >0

[0071] C. Obtain spatial coordinates and motion trajectory

[0072] The instantaneous velocity of the target object (i.e., the locator module) obtained by integrating the acceleration (taking the component on the X-axis as an example) is:

[0073]

[0074] Among them, a x [t] is the acceleration on the X-axis at time t, Δt is the sampling period, and similar calculations can be performed on the other two axes to obtain the corresponding instantaneous motion speed.

[0075] Integrate the motion velocity to get the motion displacement of the target object (taking the component on the X-axis as an example):

[0076]

[0077] During the time period, the spatial motion displacement of the target object is:

[0078]

[0079] Then the spatial coordinates of the target object at the moment are: (s x [t],s y [t],s z [t]). In the three-dimensional coordinate system, the spatial coordinate points corresponding to the time period are the motion trajectory of the target object.

[0080] D. Filter out the offset component caused by spatial inversion

[0081] During the tracking of the target object (i.e. the locator module), space flipping will occur, and the gravity acceleration will cause an offset component on the axis of the acceleration sensor. At this time, the gyroscope is used to identify the spatial posture of the target object, and the offset component of gravity acceleration is filtered out through coordinate transformation. The parameters in the rotation matrix are obtained according to the Euler angle method. θ, γ, so the components of gravity acceleration on the x, y, and z axes of the accelerometer are:

[0082]

[0083] Therefore, when the target object moves in space, the instantaneous velocity and displacement of the target object in space can be obtained through integration operations.

[0084] E. Fit the ball according to the motion trajectory points and obtain the coordinates of the ball center

[0085] First, spherical fitting is performed according to the least squares spherical fitting method of the non-complete sphere, such as Figure 4As shown, the x-axis corresponds to the horizontal direction of the human waist, the y-axis corresponds to the long axis direction of the human body, and the x-axis and y-axis together define the coronal plane α of the human pelvis. The equation of the least squares ball of the fitted non-holosphere is:

[0086] (x+a) 2 +(y+b) 2 +(x+c) 2 =R 2

[0087] The center of the fitting sphere is A(-a,-b,-c) and the radius is R.

[0088] Let a 2 +b 2 +c 2 -R 2 =d, with the spatial coordinates p of various points on the actual non-complete sphere being measured i (x i ,y i ,z i ) into the spherical equation, which may not be equal to zero, and is set to:

[0089]

[0090] where k i is the function deviation between each sampling point on the actual non-holonomic sphere and the corresponding point on the fitted least squares sphere.

[0091]

[0092] When is minimum, the fitted least squares sphere approximates the actual nonholonomic sphere, let:

[0093]

[0094] According to the method of finding the minimum value, The following system of equations is obtained:

[0095]

[0096] Where i = 1, 2, 3, ... n is the number of measured points on the non-holonomic sphere. Solving the above equations yields a, b, c, and d, from which we can find the center of the fitted least-squares sphere, A(-a, -b, -c).

[0097] F. Obtain abduction angle and anteversion angle

[0098] According to the above spherical coordinate sphere, solve the angles between AO and the x-axis and y-axis on plane α respectively. (i.e., abduction angle) and θ (i.e., anteversion angle):

[0099]

[0100]

[0101] The beneficial technical effects of the positioning measurement device and measurement method for hip replacement surgery of the present invention are at least manifested in the following aspects:

[0102] (1) The present invention uses high-precision sensors and high-performance microprocessors for measurement to solve the problems of manual error and position error in measurement, greatly increasing measurement accuracy, reducing the time and difficulty of surgical operations, and to some extent overcoming the reliance on physician experience and subjective judgment;

[0103] (2) The present invention optimizes the existing CT light film measurement method to real-time measurement of CT light films in conjunction with the actual surgical process, making hip replacement surgery more flexible. On the one hand, the surgical plan can be planned in advance according to the patient's specific situation, and the supine position and lateral position can be selected. On the other hand, data can also be measured in real time during the operation, and two-way data comparison and verification can be performed, making the installation of the prosthesis more accurate, thereby achieving better clinical efficacy and reducing the chance of secondary surgery.

[0104] (3) The present invention establishes a three-dimensional motion model by fixing the measurement and positioning instrument module on the femoral stem for mounting the acetabulum prosthesis. The hip joint moves in a specific manner. The motion sensor collects motion data in real time. The microprocessor processes the motion data and calculates the relative angular positions of the abduction angle and anteversion angle of the human hip joint. The angle values are then transmitted to the smart terminal for display via the wireless communication module. The doctor then completes the precise installation of the prosthesis in the hip replacement surgery based on the displayed measurement results.

[0105] (4) The present invention uses two identical locator modules, one for reference and one for measurement, to obtain data on the relative movement of the two, thereby offsetting the error caused by changes in the patient's posture or position, making the measurement results more accurate;

[0106] (5) The locator module of the present invention is small in size, low in cost, and easy to operate. BRIEF DESCRIPTION OF THE DRAWINGS

[0107] Figure 1 This is a schematic diagram of the three-axis correspondence between the ideal magnetometer and the actual magnetometer;

[0108] Figure 2 This is a schematic diagram of the neural network training structure of the magnetometer error correction model;

[0109] Figure 3 is a schematic diagram of the attitude angle position of the magnetometer;

[0110] Figure 4 It is a schematic diagram of simulated spherical coordinates;

[0111] Figure 5 1 is a schematic diagram of a locator module performing azimuth calibration according to a preferred embodiment of the present invention;

[0112] Figure 6 is a schematic diagram of a reference locator module according to a preferred embodiment of the present invention being calibrated using a pelvic calibrator;

[0113] Figure 7 This is a schematic diagram of the structure and usage of a reference locator according to a preferred embodiment of the present invention;

[0114] Figure 8 is a schematic diagram of a measurement and positioning instrument module according to a preferred embodiment of the present invention being calibrated using a pelvic calibrator;

[0115] Figure 9 It is a schematic diagram of the structure and usage status of an acetabulum guide according to a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0116] The embodiments of the present invention are described in detail below. The following embodiments are implemented based on the technical solutions of the present invention, and provide detailed implementation methods and specific operating procedures. However, the protection scope of the present invention is not limited to the following embodiments.

[0117] like Figure 5-9 As shown, in a preferred embodiment, the positioning and measuring device for hip replacement surgery of the present invention includes at least two locator modules 1, a pelvic calibrator 2, a reference locator 3 and an intelligent terminal (not shown in the figure).

[0118] There are two locator modules 1: a reference locator module 11 and a measurement locator module 12. Each locator module 1 comprises a housing and a circuit board. The circuit board includes a power supply, a microprocessor, a motion sensor, a wireless communication module, and a power switch. The power supply is a button battery; the microprocessor is an embedded programmable controller; the motion sensor includes a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer; the wireless communication module is a Bluetooth module; and the power switch is a push-button switch.

[0119] The pelvic marker 2 is T-shaped and includes a crossbar 21 and a vertical bar 22 substantially perpendicular to the crossbar 21. The lengths of the crossbar 21 and the vertical bar 22 are adjustable. The crossbar 21 is provided with a clamp 23 for fixing the locator module 1.

[0120] The reference locator 3 includes a reference fixing pin 31 and a reference positioning arm 32 connected thereto. One end of the reference positioning arm 32 has a clamp 33 for fixing the reference locator module 11. The angle of the reference positioning arm 32 relative to the reference fixing pin 31 is adjustable.

[0121] The smart terminal is a tablet computer or a smart phone.

[0122] In hip replacement surgery, the method for measuring using the positioning and measuring device of this embodiment includes the following steps:

[0123] Step 1: Figure 5 As shown, two locator modules 1 are simultaneously installed in the dual-module holder 6 and placed on the horizontal calibration disc 5 for azimuth calibration. According to the prompt of the smart terminal, the dual-module holder 6 is operated to slowly rotate one circle to complete the azimuth calibration; then the dual-module holder 6 is removed from the horizontal calibration disc 5, placed on a horizontal operating platform, and six-side calibration is performed according to the prompt of the smart terminal;

[0124] Step 2: Figure 6 As shown, a reference fixation pin 31 is driven into the outside of the acetabulum along the acetabulum surgical incision;

[0125] Step 3: Select any one of the two locator modules 1 as the reference locator module 11, and install the reference locator module 11 on the holder 23 of the pelvic calibrator 2;

[0126] Step 4: Adjust the crossbar 21 of the pelvic calibrator 2 to the same length according to the size of the anterior superior iliac spines on both sides of the patient (i.e., the length of AB), so that the two ends of the crossbar 21 are located at the anterior superior iliac spines on both sides of the patient (i.e., A and B), and adjust the lower end of the vertical rod 22 of the pelvic calibrator 2 to the position of the patient's pubic symphysis (i.e., C). Keep the pelvic calibrator 2 stable and do not shake. Calibrate the reference locator module 11 and obtain the posture angle data as the patient's initial pelvic data. After the calibration of the reference locator module 11 is completed, remove the pelvic calibrator 2 and the reference locator module 11;

[0127] Step 5: Figure 7 As shown, the reference positioning arm 32 of the reference locator 3 is connected to the reference fixing pin 31, the calibrated reference locator module 11 is installed on the holder 33 of the reference locator 3, and the reference positioning arm 32 is adjusted to a suitable angle and fixed;

[0128] Step 6: Figure 8 As shown, the other of the two locator modules 1 is selected as the measurement locator module 12, and the measurement locator module 12 is installed on the holder 23 of the pelvic calibrator 2;

[0129] Step 7: Place the two ends of the horizontal bar 21 of the pelvic calibrator 2 at the anterior superior iliac spines on both sides of the patient (i.e., A and B), and the lower end of the vertical bar 22 at the patient's pubic symphysis (i.e., C). Keep the pelvic calibrator 2 still and perform calibration with the measurement and locator module 12 to obtain the posture angle data. After the calibration of the measurement and locator module 12 is completed, remove the pelvic calibrator 2 and the measurement and locator module 12;

[0130] Step 8: Figure 9 As shown, the calibrated measurement and positioning instrument module 12 is installed on the holder 42 of the acetabulum guide 4, the ball head 41 of the acetabulum guide 4 is installed in the polished acetabulum fossa, the direction of the acetabulum guide 4 is adjusted, and the intelligent terminal displays the current installation angle data (i.e., abduction angle and anteversion angle data) in real time;

[0131] Step 9: Insert the acetabular prosthesis according to the real-time angle data displayed on the smart terminal. Each time the prosthesis is inserted, the installation angle data will be updated in real time to help the doctor install the prosthesis more accurately.

[0132] The above describes in detail the preferred embodiments of the present invention. It should be understood that numerous modifications and variations based on the concepts of the present invention are possible by those skilled in the art without inventive effort. Therefore, any technical solution that can be derived by those skilled in the art through logical analysis, reasoning, or limited experimentation based on the concepts of the present invention and the prior art should be within the scope of protection defined by the claims.

Claims

1. A positioning and measuring device for hip replacement surgery, characterized in that: include: At least two locator modules, including a reference locator module and a measurement locator module, for measuring and obtaining data on the relative motion between the reference locator module and the measurement locator module in real time; A pelvis calibrator is used to locate the pelvis position to calibrate the reference locator module and the measurement locator module, wherein the calibration process of the reference locator module and the measurement locator module includes: Mounting the reference locator module on the holder of the pelvic calibrator and mounting the pelvic calibrator on the patient's pelvis; Calibrate the reference locator module while keeping the pelvis calibrator stable to obtain posture angle data as initial pelvic data of the patient; After the calibration of the reference locator module is completed, removing the pelvis calibrator and the reference locator module; Mounting the measurement and positioning instrument module on the holder of the pelvic calibrator and mounting the pelvic calibrator on the patient's pelvis; Calibrate the measurement and positioning instrument module while keeping the pelvis calibrator from shaking to obtain attitude angle data; and After the calibration of the measurement and locator module is completed, the pelvis calibrator and the measurement and locator module are removed; Reference locator, used to fix the calibrated reference locator module; An intelligent terminal is used to receive and process the position information data of the reference locator module and the measurement locator module to obtain and display in real time the abduction angle and anteversion angle data used to represent the cross-sectional orientation of the acetabulum, wherein the calibrated reference locator module is used to be installed on the reference locator, and the calibrated measurement locator module is used to be installed on the acetabulum guide.

2. The positioning and measuring device for hip replacement surgery according to claim 1, wherein: The locator module includes a housing and a circuit board; the circuit board includes a power supply, a microprocessor, a motion sensor and a wireless communication module.

3. The positioning and measuring device for hip replacement surgery according to claim 2, wherein: The motion sensor comprises: accelerometer, used to measure acceleration; gyroscopes, which measure angular velocity; and Magnetometer, used to measure magnetic strength.

4. The positioning and measuring device for hip replacement surgery according to claim 3, wherein: The accelerometer is a three-axis accelerometer; the gyroscope is a three-axis gyroscope; and the magnetometer is a three-axis magnetometer.

5. The positioning and measuring device for hip replacement surgery according to claim 2, wherein: The wireless communication module is selected from one of Bluetooth, WiFi, Zig-Bee or mobile network communication modules.

6. The positioning and measuring device for hip replacement surgery according to claim 2, wherein: The pelvic calibrator is T-shaped and comprises a crossbar and a vertical bar substantially perpendicular to the crossbar; the crossbar is provided with the clamp for fixing the reference locator module and the measurement locator module.

7. The positioning and measuring device for hip replacement surgery according to claim 6, wherein: The lengths of the horizontal rod and the vertical rod are adjustable.

8. The positioning and measuring device for hip replacement surgery according to claim 2, wherein: The reference locator includes a reference fixing pin and a reference positioning arm connected thereto, and one end of the reference positioning arm is provided with a clamp for fixing the reference locator module.

9. The positioning and measuring device for hip replacement surgery according to claim 8, wherein: The angle of the reference positioning arm relative to the reference fixing pin is adjustable.

10. The positioning measurement device for hip replacement surgery according to claim 1, wherein: During measurement using the positioning measurement device, the steps performed include: Step 1: performing orientation calibration and six-plane calibration on the reference locator module and the measurement locator module; Step 2: Insert a reference fixation pin into the lateral side of the acetabulum along the acetabular surgical incision; Step 3: Execute the calibration process, wherein the pelvic calibrator is mounted on the patient's pelvis, including: adjusting the crossbar of the pelvic calibrator to equal lengths according to the size of the patient's anterior superior iliac spines on both sides, so that the two ends of the crossbar are located at the patient's anterior superior iliac spines on both sides, and adjusting the lower end of the vertical rod of the pelvic calibrator to the position of the patient's pubic symphysis. Step 4: Install the calibrated reference locator module on the holder of the reference locator, adjust the reference locator arm to a suitable angle and fix it; Step 5: Install the calibrated measurement and positioning instrument module on the holder of the acetabulum guide, install the ball head of the acetabulum guide in the polished acetabulum socket, adjust the direction of the acetabulum guide, and the smart terminal displays the current abduction angle and anteversion angle data in real time; Step 6: The acetabular prosthesis is inserted according to the real-time angle data displayed by the smart terminal. Each time the acetabular prosthesis is inserted, the abduction angle and anteversion angle data are updated in real time to help the doctor install the prosthesis more accurately.

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