Positioning error measurement device and method

Abstract

The present invention provides a positioning error measurement device and method, comprising: a base and a measuring plate plugged into the base; wherein the base is gun-shaped and has a plurality of position holes corresponding to the bone positions and a plurality of connection holes for plugging into the measuring plate, and the plurality of connection holes are arranged at intervals and form an arc. The advantages are: the length error of the hip joint surgery navigation system is calculated by comparing the distance of the marker modules installed on the base collected multiple times; the angle error of the hip joint surgery navigation system is calculated by comparing the actual abduction angle installed on the base collected multiple times with the measured abduction angle.

Description

Technical Field

[0001] The present invention relates to the technical field of hip joint surgery navigation systems, and in particular to a positioning error measuring device and method. Background Art

[0002] Surgical navigation system, also known as computer-assisted surgery, refers to the organic combination of modern imaging technology, stereotactic technology, electronic computer technology and artificial intelligence technology with surgeons, making full use of information to enable patients to receive safe, accurate and minimally invasive surgical treatment. Compared with traditional surgery, the surgical navigation system can formulate the best surgical plan through calculation and processing, track the position of surgical instruments, and update the position of surgical instruments in real time on intraoperative images, which can provide accurate reference for doctors during surgery.

[0003] However, the traditional measurement process usually includes length errors and angle errors, which reduces the accuracy and precision of the collected data, and then affects the subsequent surgical results. Summary of the invention

[0004] The present invention provides a positioning error measuring device and method, which achieves the purpose of improving the subsequent surgical effect by measuring length error and angle error and improving the accuracy and precision of collected data.

[0005] In order to achieve the above-mentioned object of the invention, the present invention provides the following technical solutions:

[0006] A first aspect of the present invention protects a positioning error measuring device and method, comprising: a base and a measuring plate plugged into the base;

[0007] The base is gun-shaped and is provided with a plurality of position holes corresponding to the positions of the bones and a plurality of connection holes for plugging with the measuring plate. The plurality of connection holes are arranged at intervals and form an arc.

[0008] Preferably, the position holes are provided at intervals in the horizontal and vertical directions of the base, and a plurality of the connection holes are located between the position holes provided in the horizontal and vertical directions.

[0009] Preferably, the measuring plate comprises two vertically arranged plug posts and a disc vertically fixed to the top of the plug posts, and the plug posts are used to be inserted into the connecting holes and connected to the base;

[0010] Wherein, the position hole is marked by a marking module in the hip joint surgery navigation system to measure the position information.

[0011] Preferably, the hip joint surgery navigation system also includes an acquisition module, a control module, and a navigation module. The acquisition module outputs the acquired position information to the acquisition module, and the acquisition module acquires the position information and then outputs it to the control module. The control module performs data conversion and analysis on the acquired position information and then outputs it for display through the navigation module.

[0012] A second aspect of the present invention provides a positioning error measurement method, characterized in that it comprises the following steps:

[0013] S1. Install the marking module on the hip joint surgery navigation system on the position hole of the base to measure the position information of the anterior superior iliac spine, pelvis and femur and transmit it to the acquisition module, then convert the data through the control module, and then output it to the navigation module for display;

[0014] To calculate the length error of the hip surgery navigation system, the specific formula is as follows:

[0015]

[0016] Where n is the number of measurements;

[0017] A and B correspond to the absolute positions of the pelvis and femur respectively;

[0018] A i B i ——Measure the distance between points A and B for the nth time.

[0019] Preferably, in step S1, the measurement coordinate system is determined by the position information corresponding to the anterior superior iliac spine, the position information corresponding to the pelvis and the position information corresponding to the femur are both absolute positions A and B, and the distance A between the two absolute positions is calculated. i B i .

[0020] Preferably, in step S1, the coordinate systems of the absolute positions A and B are (x A1 ,y A1 , z A1 )、(x B1 ,y B1 , z B1 ), and repeat step S1 to obtain A2B2, A3B3, A4B4, A5B5, A6B6.

[0021] Preferably, a positioning error measurement method protected by the second aspect further includes:

[0022] S2. The actual angle between the connecting line of several groups of connecting holes on the measuring base and the connecting line of the corresponding position holes at the anterior superior iliac spine is the actual abduction angle;

[0023] S3, insert the measuring plate into the connecting hole on the base, and randomly collect three points on the outer wall of the measuring plate for several times, and calculate the angle formed by the extended line of the intersection of the plane formed by the three points collected each time and the plane where the bottom plate is located and the line connecting the position holes at the corresponding anterior superior iliac spine as the measured abduction angle;

[0024] S4, inserting the actual abduction angle measured in step S2 and the measured abduction angle measured in step S3 into the following formula to calculate the angle error of the hip joint surgery navigation system:

[0025]

[0026] in:

[0027] n——number of measurements;

[0028] α0, β0, γ0——are the actual abduction angles at different positions on the base;

[0029] α i , β i , γ i ——These are the i-th measured abduction angles measured at different positions of the measuring plate.

[0030] Preferably, the position holes are provided at intervals in the horizontal and vertical directions of the base, and a plurality of the connection holes are located between the position holes provided in the horizontal and vertical directions.

[0031] Preferably, the measuring plate comprises two vertically arranged plug posts and a disc vertically fixed to the top of the plug posts, and the plug posts are used to be inserted into the connecting holes and connected to the base;

[0032] Wherein, the position hole is marked by a marking module in the hip joint surgery navigation system to measure the position information.

[0033] The positioning error measurement device and method of the present invention have the advantages of: calculating the length error of the hip joint surgery navigation system by comparing the distance of the marker modules installed on the base collected multiple times; calculating the angle error of the hip joint surgery navigation system by comparing the actual abduction angles collected multiple times and the measured abduction angles installed on the base; providing an important basis for the precision and accuracy of the hip joint surgery navigation system;

[0034] The tooling used in the present invention has a simple structure and is easy to operate. The calculation method is convenient and has low professional requirements for operators, and is suitable for popularization and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification for explaining the present invention, but do not constitute a limitation of the present invention. In the accompanying drawings:

[0036] Figure 1 It is a three-dimensional structural schematic diagram of a positioning error measuring device of the present invention;

[0037] Figure 2 This is a schematic diagram of the module connection of the hip surgery navigation system;

[0038] in:

[0039] Base 1, measuring plate 2, plug 21, disc 22;

[0040] Position hole 3, hole number 1 31, hole number 2 32, hole number 9 33, hole number 10 34, hole number 11 35;

[0041] Connecting hole 4, hole No. 3 41, hole No. 42, hole No. 5 43, hole No. 6 44, hole No. 7 45, hole No. 8 46;

[0042] Marking module 8, acquisition module 5, control module 6, navigation module 7. DETAILED DESCRIPTION

[0043] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0044] according to Figure 1 As shown, a positioning error measuring device of the present invention comprises a base 1 and a measuring plate 2 plugged into the base 1; in this embodiment, the base 1 is a special-shaped stretching body.

[0045] The base 1 is gun-shaped and has a plurality of position holes 3 (such as Figure 1 The first hole 31, the second hole 32, the ninth hole 33, the tenth hole 34, the eleventh hole 35) and a plurality of connecting holes 4 (such as the third hole 41 to the eighth hole 46) for plugging with the measuring plate 2, wherein the plurality of connecting holes 4 are arranged at intervals and form an arc;

[0046] The angle between the connecting line of hole No. 1 31 and hole No. 2 32 and the connecting line of hole No. 3 41 and hole No. 4 42 is α0, the angle between the connecting line of hole No. 1 31 and hole No. 2 32 and the connecting line of hole No. 5 43 and hole No. 6 44 is β0, and the angle between the connecting line of hole No. 1 31 and hole No. 2 32 and the connecting line of hole No. 7 45 and hole No. 8 46 is γ0.

[0047] In a specific implementation, the position holes 3 are spaced apart in the horizontal and vertical directions of the base 1, and a plurality of the connection holes 4 are located between the position holes 3 provided in the horizontal and vertical directions (e.g. Figure 1The measuring plate 2 comprises two vertically arranged plug posts 21 and a disc 22 vertically fixed to the top of the plug posts 21. The plug posts 21 are used to be inserted into the connection holes 4 and connected to the base 1.

[0048] The position hole 3 is marked by a marking module 8 in the hip joint surgery navigation system to measure the position information.

[0049] Further, according to Figure 2 As shown, the hip joint surgery navigation system also includes an acquisition module 5, a control module 6, and a navigation module 7. The acquisition module 5 outputs the acquired position information to the acquisition module 5, and the acquisition module 5 acquires the position information and then outputs it to the control module 6. The control module 6 performs data conversion and analysis on the acquired position information and then outputs it for display through the navigation module 7.

[0050] More specifically, the marking module 8: marks and identifies the position information of the bones;

[0051] Collection module 5: collects the location information of the marking module;

[0052] Control module 6: convert and analyze the collected location information;

[0053] Navigation module 7: used to display the specific location information of the control module 6;

[0054] Hole No. 3 41 - hole No. 42, hole No. 5 43 - hole No. 6 44, hole No. 7 45 - hole No. 8 46 cooperate with the measuring plate 2, hole No. 1 31, hole No. 2 32, hole No. 9 33, hole No. 10 34, hole No. 11 35 cooperate with the marking module, and the base 1 provides a base for the measuring plate 2 and the marking module.

[0055] The No. 1 hole 31 - the No. 2 hole 32 cooperates with the No. 1 marking module, the No. 9 hole 33 - the No. 10 hole 34 cooperates with the No. 2 marking module, and the No. 11 hole 35 cooperates with the No. 3 marking module.

[0056] The present invention provides a positioning error measurement method, which specifically comprises the following steps:

[0057] S1. Install the No. 1 marking module, No. 2 marking module and No. 3 marking module on the hip joint surgery navigation system on the position holes 3 of the base 1 respectively, wherein the No. 1 marking module cooperates with the No. 1 hole 31-No. 2 hole 32, the No. 2 marking module cooperates with the No. 9 hole 33-No. 10 hole 34, and the No. 3 marking module cooperates with the No. 11 hole 35;

[0058] The position information of the anterior superior iliac spine (corresponding to the first hole 31-the second hole 32), the pelvis (corresponding to the ninth hole 33-the tenth hole 34), and the femur (corresponding to the eleventh hole 35) is measured and transmitted to the acquisition module 5, and then converted by the control module 6, and then output to the navigation module 7 for display;

[0059] In the above steps, the position information of the anterior superior iliac spine (i.e., the position information of the No. 1 marker module) is collected by the collection module 5, transmitted to the control module 6 for data conversion, and then output to the navigation module 7 for display to determine the measurement coordinate system for standby use; the position information of the No. 2 marker module and the No. 3 marker module is collected by the same measurement method to obtain the absolute position A (x A1 ,y A1 , z A1 )、B(x B1 ,y B1 , z B1 ) to determine the measurement coordinate system, the position information corresponding to the pelvis and the position information corresponding to the femur are both absolute positions A and B, and the distance A between the two absolute positions is calculated i B i .

[0060] Repeat the above steps five times to obtain A1B1, A2B2, A3B3, A4B4, A5B5, and A6B6. The average value is the system length error.

[0061] To calculate the length error of the hip surgery navigation system, the specific formula is as follows:

[0062]

[0063] Where n is the number of measurements;

[0064] A and B correspond to the absolute positions of the pelvis and femur respectively;

[0065] A i B i ——Measure the distance between points A and B for the nth time.

[0066] Furthermore, in order to obtain the angle error of the hip joint surgery navigation system, the following steps need to be performed immediately:

[0067] S2, measuring the actual angle between the connecting line of several groups of connecting holes 4 on the base 1 and the connecting line of the position holes 3 corresponding to the anterior superior iliac spine as the actual abduction angle;

[0068] Specifically, the angle formed by the connecting line between the first hole 31 and the second hole 32 and the connecting line between the third hole 41 and the fourth hole 42 is α0, the angle formed by the connecting line between the first hole 31 and the second hole 32 and the connecting line between the fifth hole 43 and the sixth hole 44 is β0, and the angle formed by the connecting line between the first hole 31 and the second hole 32 and the connecting line between the seventh hole 45 and the eighth hole 46 is γ0, that is, α0, β0, and γ0 are all actual abduction angles at different positions on the base 1, for future use;

[0069] S3, insert the measuring plate 2 into the connecting hole 4 on the base 1, and randomly collect three points on the outer wall of the measuring plate 2 for 5 times, and calculate the angle formed by the extended line of the intersection of the plane formed by the three points collected each time and the plane where the bottom plate is located and the line connecting the position hole 3 at the anterior superior iliac spine as the measured abduction angle;

[0070] Specifically, for example, Figure 1 For example, three points are randomly selected five times on the measuring plate 2, so that the angles formed by the extension of the intersection line of the plane formed and the plane where the bottom plate is located and the connecting line between the first hole 31 and the second hole 32 are γ1, γ2, γ3, γ4, γ5, and γ6, respectively, which are the measured abduction angles;

[0071] Similarly, when the measuring plate 2 is inserted into the third hole 41 and the fourth hole 42, the measured abduction angles measured by the hip joint surgery navigation system are α1, α2, α3, α4, α5, and α6; when the measuring plate 2 is inserted into the fifth hole 43 and the sixth hole 44, the measured abduction angles measured by the hip joint surgery navigation system are β1, β2, β3, β4, β5, and β6;

[0072] S4, inserting the actual abduction angle measured in step S2 and the measured abduction angle measured in step S3 into the following formula to calculate the angle error of the hip joint surgery navigation system:

[0073]

[0074] in:

[0075] n——number of measurements;

[0076] α0, β0, γ0——are the actual abduction angles at different positions on the base 1;

[0077] α i , β i , γ i ——These are the i-th measured abduction angles measured at different positions of the measuring plate 2.

[0078] After multiple measurements and calculation using the above angle error formula, the system angle error can be obtained.

[0079] The measurement method of the present invention specifically determines the length error and angle error of the hip joint surgery navigation system through the required position information and the calculation of the navigation module 7. The error of the hip joint surgery navigation system determines its precision and accuracy, and is an important reference for navigation during hip joint surgery.

[0080] The present invention provides a method for measuring the errors of the hip joint surgery navigation system during the length and angle measurement process. After the length error and angle error of the hip joint surgery navigation system are obtained, the navigation system can be used more accurately.

[0081] The principles, structures, processes, etc. not explicitly described in the present invention can be obtained by those skilled in the art through conventional technical means, such as the measurement of the actual abduction angle, etc.

[0082] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A positioning error measuring device, characterized in that: It comprises a base (1) and a measuring plate (2) plugged into the base (1); The base (1) is gun-shaped and is provided with a plurality of position holes (3) corresponding to the positions of the bones and a plurality of connection holes (4) for plugging with the measuring plate (2), wherein the plurality of connection holes (4) are arranged at intervals and form an arc shape; The measuring plate (2) comprises two vertically arranged plug posts (21) and a disc (22) vertically fixed to the top of the plug posts (21); the plug posts (21) are used to be inserted into the connection holes (4) to be connected to the base (1); The position hole (3) is marked by a marking module (8) in the hip joint surgery navigation system to measure position information.

2. A positioning error measuring device according to claim 1, characterized in that: The position holes (3) are arranged at intervals in the horizontal and vertical directions of the base (1), and a plurality of the connection holes (4) are located between the position holes (3) arranged in the horizontal and vertical directions.

3. A positioning error measuring device according to claim 1, characterized in that: The hip joint surgery navigation system further comprises an acquisition module (5), a control module (6), and a navigation module (7); the acquisition module (5) outputs acquired position information to the acquisition module (5); the acquisition module (5) acquires the position information and then outputs it to the control module (6); the control module (6) performs data conversion and analysis on the acquired position information and then outputs it for display through the navigation module (7).

4. A positioning error measurement method, characterized in that: The steps include: S1, installing the marking module (8) on the hip joint surgery navigation system on the position hole (3) of the base (1) to measure the position information corresponding to the anterior superior iliac spine, pelvis, and femur and transmitting it to the acquisition module (5), after which the data is converted by the control module (6), and then output to the navigation module (7) for display; To calculate the length error of the hip surgery navigation system, the specific formula is as follows: ； Where n is the number of measurements; A and B correspond to the absolute positions of the pelvis and femur respectively; A i B i ——Measure the distance between points A and B for the nth time; Also includes S2, the actual angle between the connecting line of the plurality of connecting holes (4) on the measuring base (1) and the connecting line of the position holes (3) at the corresponding anterior superior iliac spine is the actual abduction angle; S3, inserting the measuring plate (2) into the connecting hole (4) on the base (1), and randomly collecting three points on the outer wall of the measuring plate (2) for a number of times, and calculating the angle formed by the extended line of the intersection of the plane formed by the three points collected each time and the plane where the base plate is located, and the angle formed by the extended line and the line connecting the position hole (3) corresponding to the anterior superior iliac spine as the measured abduction angle; S4, inserting the actual abduction angle measured in step S2 and the measured abduction angle measured in step S3 into the following formula to calculate the angle error of the hip joint surgery navigation system: ； in: n——number of measurements; α0, β0, γ0 are the actual abduction angles at different positions on the base (1); α i , β i , γ i ——are the i-th measured abduction angles measured at different positions of the measuring plate (2).

5. A positioning error measurement method according to claim 4, characterized in that: In step S1, the measurement coordinate system is determined by the position information corresponding to the anterior superior iliac spine. The position information corresponding to the pelvis and the position information corresponding to the femur are both absolute positions A and B, and the distance A between the two absolute positions is calculated. i B i .

6. A positioning error measurement method according to claim 4, characterized in that: In step S1, the coordinate systems of the absolute positions A and B are (x A1 ,y A1 , z A1 )、(x B1 ,y B1 , z B1 ), and repeat step S1 to obtain A2B2, A3B3, A4B4, A5B5, A6B6.

7. A positioning error measurement method according to claim 4, characterized in that: The position holes (3) are arranged at intervals in the horizontal and vertical directions of the base (1), and a plurality of the connection holes (4) are located between the position holes (3) arranged in the horizontal and vertical directions.

8. A positioning error measurement method according to claim 7, characterized in that: The measuring plate (2) comprises two vertically arranged plug posts (21) and a disc (22) vertically fixed to the top of the plug posts (21); the plug posts (21) are used to be inserted into the connection holes (4) to be connected to the base (1); The position hole (3) is marked by a marking module (8) in the hip joint surgery navigation system to measure position information.

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