An IMU-Based Real-Time Measuring System for Acetabular Prosthesis Implant Angles in THR Surgeries
An IMU-Based Real-Time Measuring System for Acetabular Prosthesis Implant Angles in THR Surgeries
复制标题
DOI：
10.1109/jsen.2021.3091583
复制
发表时间：
2021-09-01
影响因子：
4.3
通讯作者：
Wang, Zhihua
中科院分区：
文献类型：
--
作者：
Chen, Hong;Yang, Zhecheng;Wang, Zhihua
随着人口老龄化，全髋关节置换术（THR）的数量逐年增加。为提高全髋关节置换术的成功率，术中应精确测量髋臼假体的角度。设计了一种基于惯性测量单元的实时测量系统，测量骨盆坐标系的初始姿态，并实时跟踪骨盆坐标系和假体轴线的姿态。通过加速度计和陀螺仪实时采集四元数表示的骨盆和假体的不同姿态数据，真实的实时计算骨盆和假体之间的相对位置。提出了一种优化算法，从数据中准确地获得假体植入角度。实验结果表明，测量的种植体角度与X线片计算的种植体角度基本一致，均方根误差（RMSE）小于3.52 °，在THR要求的安全范围内。此外，无论植入角度如何变化，测量值与参考值一致，RMSE小于3.27度。实验结果表明，我们的系统可以跟踪实时脱位的假体在全髋关节置换手术。
With the aging of population, the number of total hip replacement (THR) surgeries increases year by year. To improve the success rate of THR operation, the measurement of acetabular prosthesis angles should be precise during the surgery. We design an inertial measurement unit based real-time measurement system, which measures the initial attitude of the pelvis coordinate, and traces the real-time attitude of the pelvis coordinate and prosthesis axis. By collecting real-time data of diff- erent pelvic and prosthesis attitudes in quaternion representation through accelerometers and gyroscopes, the relative position between pelvis and prosthesis is calculated in real time. An optimized algorithm is proposed to obtain prosthesis implant angles accurately from the data. The experimental results show that the measured implant angles agree with that calculated by radiographic value, the root mean square errors (RMSE) are less than 3.52 degrees, which is within the safe range of THR requirement. Furthermore, no matter how the implant angles change, the measured values agree with reference values, the RMSE is less than 3.27 degrees. The experimental results show that our system can trace the real-time dislocation of the prosthesis during the THR surgeries.