Angle measurement positioning device for hip replacement surgery

Abstract

The application provides an angle measurement positioning device for hip replacement surgery, a pelvis positioning unit is fixedly arranged on a pelvis to be replaced with a hip joint, and is used for acquiring posture data of the pelvis; a prosthesis positioning unit is fixedly arranged on an acetabular prosthesis implant, and is used for acquiring posture data of an acetabular prosthesis carried by the acetabular prosthesis implant; a control unit is electrically connected with the pelvis positioning unit and the prosthesis positioning unit, respectively, and is used for calculating a relative angle between the pelvis and the acetabular prosthesis according to the received posture data of the pelvis and the posture data of the acetabular prosthesis, so as to determine a target angle of implanting the acetabular prosthesis. The positioning device can realize accurate target angle of implanting the acetabular prosthesis, assist a doctor to better determine the placement angle of the acetabular prosthesis, and is not affected by the body position change of a patient during surgery; the positioning device does not need to rely on imaging examination, is simple to use, reduces the influence of a learning curve of the doctor, has small product volume, low manufacturing cost, and can be widely used.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical devices, and particularly relates to an angle measurement positioning device for hip joint replacement surgery. BACKGROUND

[0002] In hip joint replacement surgery, the joint implant should be placed at a reasonable angle (anteversion angle and abduction angle), otherwise it will affect the joint stability after surgery, resulting in surgical failure or poor surgical results. At present, there are mainly three ways to determine the placement angle of the implant in hip joint replacement surgery: 1) using conventional surgical tools, relying on the experience and visual judgment of the doctor; 2) using computer surgical navigation equipment; 3) using surgical robot assisted method.

[0003] At present, after hip replacement, the following problems often exist: 1) using conventional surgical tools to rely on the experience of the doctor, it is impossible to obtain accurate angle values, the accuracy of the implant direction is highly related to the personal level of the doctor, and the implant direction may not be ideal due to insufficient doctor level or inaccurate judgment. In addition, during the operation, the non-standard placement of the patient's body position will cause inaccurate angle judgment, and the relative angle of the prosthesis relative to the body line or pelvis cannot be obtained. 2) Computer surgical navigation equipment generally uses CT navigation or optical navigation equipment to position and measure the direction and angle. The related equipment is large, complex to use, expensive, requires high operating room conditions, and usually requires preoperative CT scanning, three-dimensional reconstruction and other preoperative preparations, or increases the exposure of the doctor and the patient to radiation. 3) The use of surgical robots is a new means in recent years. Its principle is also based on the traditional computer surgical navigation principle, and a mechanical arm is added to assist in positioning or operation. Its shortcomings are similar to those of computer surgical navigation, and it is more expensive, the system development and manufacturing process are more complex, and there are still great limitations in large-scale popularization and use.

[0004] In view of the above problems, it is necessary to provide an angle measurement positioning device for hip joint replacement surgery which is reasonably designed and effectively solves the above problems. SUMMARY

[0005] The present application aims to at least solve one of the technical problems existing in the prior art, and provides an angle measurement positioning device for hip joint replacement surgery.

[0006] The present application provides an angle measurement positioning device for hip joint replacement surgery, comprising:

[0007] A pelvis positioning unit for fixing on the pelvis of the hip joint to be replaced, the pelvis positioning unit being configured to obtain attitude data of the pelvis;

[0008] A prosthesis positioning unit is arranged on the acetabular prosthesis implant, and is used to acquire attitude data of the acetabular prosthesis carried on the acetabular prosthesis implant;

[0009] A control unit is electrically connected with the pelvis positioning unit and the prosthesis positioning unit respectively, and is used to calculate a relative angle between the pelvis and the acetabular prosthesis according to the received attitude data of the pelvis and the attitude data of the acetabular prosthesis, so as to determine a target angle of the acetabular prosthesis implant.

[0010] Optionally, the pelvis positioning unit comprises a first attitude sensor module, a force line rod and a clamping fixing assembly.

[0011] The force line rod is arranged on the first attitude sensor module and is used as a reference rod for adjusting the first attitude sensor module to a preset direction.

[0012] The clamping fixing assembly is connected with the first attitude sensor module and the pelvis respectively.

[0013] Optionally, the clamping fixing assembly comprises a fixing base and a universal adjusting and locking structure.

[0014] The fixing base is used to be fixedly connected with the pelvis, a first end of the universal adjusting and locking structure is fixedly connected with the fixing base, and a second end of the universal adjusting and locking structure is rotatably connected with the first attitude sensor module.

[0015] The universal adjusting and locking structure is used to adjust the direction of the first attitude sensor module and lock and fix the first attitude sensor module on the fixing base when the first attitude sensor module is adjusted to the preset direction.

[0016] Optionally, the preset direction is a head-foot longitudinal axis direction of a human body.

[0017] Optionally, the first attitude sensor module comprises a shell, a circuit board, a battery and a multi-axis attitude sensor.

[0018] The shell is provided with the force line rod.

[0019] The multi-axis attitude sensor comprises an accelerometer, a gyroscope and a magnetometer.

[0020] Optionally, the prosthesis positioning unit comprises a second attitude sensor module and a clamping fixator.

[0021] The second attitude sensor module is fixedly arranged on the acetabular prosthesis implant through the clamping fixator.

[0022] Optionally, the system further comprises a display unit.

[0023] The display unit is electrically connected with the control unit, and is used for displaying the relative angle between the pelvis and the acetabular prosthesis.

[0024] Optionally, the control unit further comprises a transmission module electrically connected with the intelligent terminal, and the transmission module is used for transmitting the posture data of the pelvis and the posture data of the acetabular prosthesis to the intelligent terminal.

[0025] Optionally, the transmission module comprises at least one of Bluetooth, WiFi or a mobile network.

[0026] Optionally, the relative angle between the pelvis and the acetabular prosthesis comprises an abduction angle and an anteversion angle.

[0027] The angle measurement positioning device for hip replacement surgery of the present application, the control unit is electrically connected with the pelvis positioning unit and the prosthesis positioning unit respectively, and is used for calculating the relative angle between the pelvis and the acetabular prosthesis according to the received posture data of the pelvis and the posture data of the acetabular prosthesis, so as to determine the target angle of the acetabular prosthesis implantation. The angle measurement positioning device for hip replacement surgery of the present application can be used with the existing surgical tools, realize the precise target angle of the acetabular prosthesis implantation, and assist the doctor to better determine the placement angle of the acetabular prosthesis; the relative angle between the acetabular prosthesis and the pelvis force line can be measured, and the influence of the patient's body position change during the surgery is not affected; without the help of preoperative or intraoperative CT or x-ray imaging examination, compared with the computer navigation or surgical robot, the traditional surgical operation process is not changed, the use is simple, and the influence of the doctor's learning curve is reduced; the product has small volume, low manufacturing cost, and is suitable for wide use. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 FIG. 1 is a structural schematic view of an angle measurement positioning device for hip replacement surgery according to an embodiment of the present application;

[0029] Figure 2 FIG. 3 is a schematic view of the position relationship between the pelvis positioning unit and the prosthesis positioning unit in terms of the pitch angle and the yaw angle according to another embodiment of the present application;

[0030] Figure 3 FIG. 6 is a coordinate schematic view when the Z-axis is rotated when calculating the attitude matrix according to another embodiment of the present application;

[0031] Figure 4 FIG. 8 is a coordinate schematic view when the X-axis is rotated when calculating the attitude matrix according to another embodiment of the present application;

[0032] Figure 5 FIG. 8 is a coordinate schematic view when the X-axis is rotated when calculating the attitude matrix according to another embodiment of the present application; DETAILED DESCRIPTION

[0033] In order for those skilled in the art to better understand the technical solutions of the present application, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0034] As shown in Figure 1 The present application provides an angle measurement positioning device for hip replacement surgery, which comprises a pelvis positioning unit 110, a prosthesis positioning unit 120 and a control unit 130. The pelvis positioning unit 110 is used to be fixedly arranged on the pelvis 200 of the hip joint to be replaced, and the pelvis positioning unit 110 is used to obtain the attitude data of the pelvis 200.

[0035] The prosthesis positioning unit 120 is used to be fixedly arranged on the acetabular prosthesis implant 140, and the prosthesis positioning unit 120 is used to obtain the attitude data of the acetabular prosthesis (not marked in the figure) carried on the acetabular prosthesis implant 140. In the present embodiment, the prosthesis positioning unit 120 is connected with the control unit 130 through the connecting line 150, and can be powered by the control unit 130.

[0036] The control unit 130 is electrically connected with the pelvis positioning unit 110 and the prosthesis positioning unit 120 respectively, and is used to calculate the relative angle between the pelvis 200 and the acetabular prosthesis according to the received attitude data of the pelvis and the attitude data of the acetabular prosthesis, so as to determine the target angle of the acetabular prosthesis implant. In the present embodiment, the relative angle between the pelvis 200 and the acetabular prosthesis includes the abduction angle and the anteversion angle. In the present embodiment, the control unit 130 is an angle measurement instrument host, and other devices can also be used as long as they can realize the function of the control unit 130.

[0037] The angle measurement positioning device for hip replacement surgery of the present application can obtain the real-time attitude of the pelvis 200 of the hip joint to be replaced as a reference by fixing the pelvis positioning unit 110 on the pelvis 200 of the hip joint to be replaced. The real-time attitude of the acetabular prosthesis is obtained by the prosthesis positioning unit 120 arranged on the acetabular prosthesis implant 140, and the relative angle between the pelvis 200 and the acetabular prosthesis is calculated, and then the target angle of the acetabular prosthesis implant is determined, so that the acetabular prosthesis can be accurately installed in the polished acetabular cavity.

[0038] The angle measurement positioning device for hip replacement surgery of the present application can be used with existing surgical tools to achieve the target angle of accurate acetabular prosthesis implant, and assist the doctor to better determine the placement angle of the acetabular prosthesis. The relative angle between the acetabular prosthesis and the pelvis force line can be measured, and the influence of the patient's body position change during the surgery is not affected. Without the help of preoperative or intraoperative CT or x-ray imaging examination, compared with computer navigation or surgical robot, the traditional surgical operation process is not changed, the use is simple, and the influence of the doctor's learning curve is reduced. The product has small volume, low manufacturing cost and is suitable for wide use.

[0039] As shown in Figure 1 The pelvis positioning unit 110 includes a first attitude sensor module 111, a force line rod 112, and a clamping fixing assembly 113. The force line rod 112 is arranged on the first attitude sensor module 111 and serves as a reference rod for adjusting the first attitude sensor module 111 to a preset direction. In the embodiment, the preset direction is the head-foot longitudinal axis direction of the human body. That is, the force line rod 112 points in the same direction as the head-foot longitudinal axis of the human body.

[0040] The clamping fixing assembly 113 is connected with the first attitude sensor module 111 and the pelvis 200, respectively. The clamping fixing assembly 113 is used to fix the first attitude sensor module 111 on the pelvis 200.

[0041] As shown in Figure 1 The clamping fixing assembly 113 includes a fixed base 113a and a universal adjusting and locking structure 113b. The fixed base 113a is used to be fixedly connected with the pelvis 200. The first end of the universal adjusting and locking structure 113b is fixedly connected with the fixed base 113a, and the second end of the universal adjusting and locking structure 113b is rotatably connected with the first attitude sensor module 111. The universal adjusting and locking structure 113b is used to adjust the direction of the first attitude sensor module 111 and lock and fix it on the fixed base 113a when it is adjusted to the preset direction, so that the first attitude sensor module 111 and the pelvis 200 form a stable structure with a fixed relative position.

[0042] As shown in Figure 1 The first attitude sensor module 111 includes a shell 111a, a circuit board (not shown in the figure), a battery (not shown in the figure), and a multi-axis attitude sensor (not shown in the figure). As shown in Figure 1 The shell 111a is provided with the force line rod 112. In the embodiment, the multi-axis attitude sensor is a micro nine-axis attitude sensor, which contains a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. The micro nine-axis attitude sensor can measure the attitude data of the pelvis in real time and transmit the data to the control unit 130. Of course, other types of attitude sensors can also be used, and the embodiment is not limited in this regard.

[0043] As shown in Figure 1As shown, the prosthesis positioning unit 120 includes a second attitude sensor module 121 and a clamping fixture 122. The second attitude sensor module 121 is fixedly arranged on the acetabular prosthesis implant 140 through the clamping fixture 121. The relative position of the prosthesis positioning unit 120 and the acetabular prosthesis implant 140 is fixed as a reference for the acetabular prosthesis implant angle. In this embodiment, the second attitude sensor module 121 includes a housing (not marked in the figure), a circuit board (not shown in the figure), a battery (not shown in the figure), and a multi-axis attitude sensor (not shown in the figure). In this embodiment, the multi-axis attitude sensor is a miniature nine-axis attitude sensor, which contains a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, and can measure the attitude data of the acetabular prosthesis (not marked in the figure) in real time and transmit the data to the control unit 130. Of course, other types of attitude sensors can also be used, and this embodiment is not limited in particular.

[0044] Exemplarily, a display unit (not shown in the figure) is also included, which is electrically connected with the control unit 130 and used for displaying the relative angle between the pelvis 200 and the acetabular prosthesis. In this embodiment, the display unit is arranged on the control unit 130, that is, the display screen of the angle measuring instrument host, and the necessary angle values are displayed through the display screen. The display unit can also be a separate display device for displaying the real-time display of the current abduction angle and anteversion angle data, and this embodiment is not limited in particular. By using the display unit, the target angle of the acetabular prosthesis implant can be visualized, further assisting the doctor to better determine the prosthesis placement angle.

[0045] Exemplarily, the control unit 130 also includes a transmission module (not shown in the figure) for electrical connection with a smart terminal, which is used for transmitting the attitude data of the pelvis 200 and the attitude data of the acetabular prosthesis to the smart terminal. The smart terminal calculates the relative angle between the pelvis 200 and the acetabular prosthesis according to the received attitude data of the pelvis and the attitude data of the acetabular prosthesis, to determine the target angle of the acetabular prosthesis implant. Among them, the transmission module includes at least one of Bluetooth, WiFi or mobile network. That is, the attitude data of the pelvis 200 and the attitude data of the acetabular prosthesis can also be connected to external display devices or tablets, smartphones, desktop computers and other devices through Bluetooth, wireless local area network or wired connection, cooperate with independent software programs, display angle results and human-computer interaction interface, realize remote control.

[0046] In the hip joint replacement surgery, the method for navigating the angle measuring and positioning device for hip joint replacement surgery of the present embodiment includes the following steps:

[0047] Step 1, attitude correction of the pelvis positioning unit 110 and the prosthesis positioning unit 120. After starting, the above-mentioned units can be placed in the automatic calibration of the hardware at the same time.

[0048] Step 2, the patient lies on a horizontal operating table, and the clamping and fixing assembly 113 is fixed at the anterior superior iliac spine of the patient by a fixing nail, and the clamping and fixing assembly 113 is stably fixed with the bony structure of the patient's pelvis. By rotating the universal adjusting and locking mechanism 113a, the direction of the force line rod 112 is adjusted to be parallel to the sagittal plane of the patient's body (pelvis), that is, the direction of the force line rod 112 is consistent with the head-foot vertical axis direction of the human body (the patient). Then the universal adjusting and locking mechanism 113a is locked to fix the pelvis positioning unit 110 on the patient's pelvis 200.

[0049] Step 3, the first attitude sensor module 111 is fixed on the clamping and fixing assembly 113 and is fixed firmly, the attitude angle data of the first attitude sensor module 111 is obtained, the attitude data of the first attitude sensor module 111 is horizontally corrected by calculation processing, so that the attitude coordinates of the first attitude sensor module 111 are consistent with the pelvis space attitude data, which is used as the initial pelvis data. In the above process, the patient is always kept motionless.

[0050] Step 4, after the above operation is completed, the patient can adjust the body position, and the data of the first attitude sensor module 111 will be updated in real time with the change of the pelvis attitude.

[0051] Step 5, the second attitude sensor module 121 is installed on the holder of the existing acetabular prosthesis implant 140, and is fixed firmly by the clamping and fixing device 122. The acetabular prosthesis is installed in the polished acetabular cavity, and the control unit 130 displays the current abduction angle and anteversion angle data in real time. After adjusting to the appropriate target direction according to the displayed angle data, the acetabulum is implanted. In this embodiment, the current abduction angle and anteversion angle data are displayed in real time by the angle measuring instrument host, and the acetabulum is implanted after adjusting to the appropriate target direction according to the displayed angle data. The anteversion angle and abduction angle can be continuously updated in real time during the implantation process, providing a reference for the doctor to implant the prosthesis accurately.

[0052] The acquisition and calculation method of the above anteversion angle and abduction angle is as follows:

[0053] The pitch angle θ(A), θ(C) and the yaw angle φ(A), φ(C) of the pelvis positioning unit 110 and the prosthesis positioning unit 120 are calculated respectively by the quaternion to Euler angle algorithm. That is, θ(A) is the pitch angle of the pelvis positioning unit 110, θ(C) is the pitch angle of the prosthesis positioning unit 120, φ(A) is the yaw angle of the pelvis positioning unit 110, and φ(C) is the yaw angle of the prosthesis positioning unit 120. As shown in the formula (1), the abduction angle = pitch angle θ, and the anteversion angle = yaw angle φ. Figure 2

[0054] The calculation formula of the abduction angle θ and the anteversion angle φ of the acetabular prosthesis relative to the pelvis is:​

[0055] The abduction angle θ = θ(C) - θ(A),

[0056] Forward lean angle φ = φ(C) - φ(A).

[0057] The specific calculation method for converting quaternions to Euler angles is as follows:

[0058] Step 1: Calculate the attitude matrix

[0059] 1. For example Figure 3 As shown, rotate the Z-axis.

[0060] Before rotation: (x0, y0, z0), after rotation: (x1, y1, z1)

[0061]

[0062] Right now

[0063] 2. For example Figure 4 As shown, rotate the Y-axis.

[0064] Before rotation: (x1, y1, z1), After rotation: (x2, y2, z2)

[0065]

[0066] Right now

[0067] 3. For example Figure 5 As shown, rotate the X-axis.

[0068] Before rotation: (x2, y2, z2), After rotation: (x3, y3, z3)

[0069]

[0070] Right now

[0071] 4. Let the coordinates of the navigation coordinate system (N system) be (x0, y0, z0), and the coordinates of the vehicle coordinate system (B system) be (x3, y3, z3), then:

[0072]

[0073]

[0074] The transformation matrix from coordinate system B to coordinate system N is:

[0075]

[0076] The conversion matrix from the N system to the B system is:

[0077]

[0078] Second step, quaternion rotation matrix

[0079] Let the coordinates before rotation be (x0, y0, z0), and the coordinates after rotation be (x3, y3, z3),

[0080] The quaternion is: Q = q0 + q1i + q2i + q3k,

[0081]

[0082] Third step, quaternion to Euler angle

[0083] and

[0084]

[0085] The above matrices are one-to-one.

[0086] It can be obtained that:

[0087]

[0088] sinθ = -2(q0q2 + q1q3).

[0089] It can be obtained that:

[0090] Yaw angle:

[0091] Pitch angle: θ = arcsin(-2(q0q2 + q1q3)).

[0092] The algorithm for horizontal correction of the pelvis positioning unit 110 is as follows:

[0093] When the pelvis positioning unit 110 is fixed, only the direction of the human head-foot is determined by the force line rod 112. It is necessary to calibrate the pitch angle and yaw angle of the pelvis positioning unit 110 in the horizontal direction, at which time the gyroscope data of the pelvis positioning unit 110 and the prosthesis positioning unit 120 module record the current data and calculate the zeroed three-dimensional data, which will be used as compensation later.

[0094] Store the current coordinates before rotation a: (x1, y1, z1) and calculate the pitch angle θ(A1) and the yaw angle φ(A1). When the rotation module rotates, there will be rotation coordinates b: (x2, y2, z2) and the current pitch angle θ(A2) and yaw angle φ(A2) are calculated. The corrected pitch angle θ'(A) of the pelvis positioning unit 110 and the corrected yaw angle φ'(A) after correction are The correction values are respectively:

[0095] θ'(A) = θ(A) - Δθ = θ(A) - [θ(A2) - θ(A1)],

[0096]

[0097] The calculation formula of the corrected abduction angle θ' and anteversion angle φ' of the acetabular prosthesis relative to the pelvis is:

[0098] Abduction angle θ' = θ(C) - θ'(A),

[0099] Anteversion angle φ' = φ(C) - φ'(A)

[0100] It can be understood that the above embodiments are only exemplary embodiments for illustrating the principles of the present application, and the present application is not limited thereto. Various modifications and improvements can be made by those of ordinary skill in the art without departing from the spirit and essence of the present application, and these modifications and improvements are also considered to be within the protection scope of the present application.

Claims

1. An angle measuring and positioning device for hip replacement surgery, characterized in that, include: A pelvic positioning unit is used to be fixedly installed on the pelvis of the hip joint to be replaced. The pelvic positioning unit is used to acquire the posture data of the pelvis. The prosthesis positioning unit is used to be fixedly installed on the acetabular prosthesis implanter. The prosthesis positioning unit is used to acquire the posture data of the acetabular prosthesis carried on the acetabular prosthesis implanter. The control unit is electrically connected to the pelvic positioning unit and the prosthesis positioning unit, respectively, and is used to calculate the relative angle between the pelvis and the acetabular prosthesis based on the received posture data of the pelvis and the posture data of the acetabular prosthesis, so as to determine the target angle for acetabular prosthesis implantation; wherein the target angle is obtained by a quaternion to Euler angle algorithm. The pelvic positioning unit includes a first attitude sensor module, a force line rod, and a clamping and fixing assembly. The force line rod is mounted on the first posture sensor module and is used as a reference rod to adjust the first posture sensor module to a preset direction, which is the longitudinal axis of the human head-to-feet. The clamping and fixing components are respectively connected to the first posture sensor module and the pelvis; wherein... In hip replacement surgery, the patient lies supine on a horizontal operating table. The clamping and fixation assembly is fixed to the patient's pelvis, and the direction of the force line rod is adjusted to align with the patient's head-to-toe longitudinal axis. The first posture sensor module is then fixed to the clamping and fixation assembly, and its posture angle data is acquired. The posture data of the first posture sensor module is then horizontally corrected through calculation and processing to ensure that the posture coordinates of the first posture sensor module are consistent with the pelvic spatial posture data, serving as the initial pelvic data. Subsequently, the patient can adjust their position, and the data from the first posture sensor module will be updated in real time as the pelvic posture changes.

2. The angle measuring and positioning device according to claim 1, characterized in that, The clamping and fixing assembly includes a fixed base and a universal adjustable locking structure; The fixed base is used to fix the pelvis, the first end of the universal adjustment and locking structure is fixedly connected to the fixed base, and the second end of the universal adjustment and locking structure is rotatably connected to the first posture sensor module. The universal adjustment and locking structure is used to adjust the direction of the first attitude sensor module and lock it to the fixed base when it is adjusted to the preset direction.

3. The angle measuring and positioning device according to claim 1, characterized in that, The first attitude sensor module includes a housing, a circuit board, a battery, and a multi-axis attitude sensor; The force line rod is provided on the housing; The multi-axis attitude sensor includes an accelerometer, a gyroscope, and a magnetometer.

4. The angle measuring and positioning device according to any one of claims 1 to 3, characterized in that, The prosthesis positioning unit includes a second attitude sensor module and a clamping and fixing device; The second posture sensor module is fixedly mounted on the acetabular prosthesis implant via the clamping fixator.

5. The angle measuring and positioning device according to any one of claims 1 to 3, characterized in that, It also includes a display unit; The display unit is electrically connected to the control unit and is used to display the relative angle between the pelvis and the acetabular prosthesis.

6. The angle measuring and positioning device according to any one of claims 1 to 3, characterized in that, The control unit also includes a transmission module for electrical connection with a smart terminal. The transmission module is used to transmit the posture data of the pelvis and the posture data of the acetabular prosthesis to the smart terminal.

7. The angle measuring and positioning device according to claim 6, characterized in that, The transmission module includes at least one of Bluetooth, WiFi, or mobile network.

8. The angle measuring and positioning device according to any one of claims 1 to 3, characterized in that, The relative angle between the pelvis and the acetabular prosthesis includes the abduction angle and the anteversion angle.

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