Annu Int Conf IEEE Eng Med Biol Soc. 2017 Jul;2017:1360-1363. doi: 10.1109/EMBC.2017.8037085.
With the aging of population, the number of Total Hip Replacement Surgeries (THR) increased year by year. In THR, inaccurate position of the implanted prosthesis may lead to the failure of the operation. In order to reduce the failure rate and acquire the real-time pose of Anterior Pelvic Plane (APP), we propose a measurement system in this paper. The measurement system includes two parts: Initial Pose Measurement Instrument (IPMI) and Real-time Pose Measurement Instrument (RPMI). IPMI is used to acquire the initial pose of the APP, and RPMI is used to estimate the real-time pose of the APP. Both are composed of an Inertial Measurement Unit (IMU) and magnetometer sensors. To estimate the attitude of the measurement system, the Extended Kalman Filter (EKF) is adopted in this paper. The real-time pose of the APP could be acquired together with the algorithm designed in the paper. The experiment results show that the Root Mean Square Error (RMSE) is within 1.6 degrees, which meets the requirement of THR operations.
随着人口老龄化，全髋关节置换手术（THR）的数量逐年增加。在全髋关节置换手术中，植入假体的位置不准确可能导致手术失败。为了降低失败率并获取骨盆前平面（APP）的实时位姿，本文提出了一种测量系统。该测量系统包括两部分：初始位姿测量仪（IPMI）和实时位姿测量仪（RPMI）。初始位姿测量仪用于获取骨盆前平面的初始位姿，实时位姿测量仪用于估计骨盆前平面的实时位姿。两者均由惯性测量单元（IMU）和磁力计传感器组成。为了估计测量系统的姿态，本文采用了扩展卡尔曼滤波器（EKF）。结合本文设计的算法，可以获取骨盆前平面的实时位姿。实验结果表明，均方根误差（RMSE）在1.6度以内，满足全髋关节置换手术的要求。
