CN100569181C - A kind of measurement demarcation frame that is used for determining human lower-limb axis - Google Patents
A kind of measurement demarcation frame that is used for determining human lower-limb axis Download PDFInfo
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- CN100569181C CN100569181C CNB2008102230252A CN200810223025A CN100569181C CN 100569181 C CN100569181 C CN 100569181C CN B2008102230252 A CNB2008102230252 A CN B2008102230252A CN 200810223025 A CN200810223025 A CN 200810223025A CN 100569181 C CN100569181 C CN 100569181C
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Abstract
A kind of measurement markers frame that is used for determining human lower-limb axis, belong to human motion research and human body knee joint replacement technique field, it is characterized in that, contain, following two semi-circular supports, a pair of by last connecting rod and in be placed in the belled connecting rod of slip that lower link in connecting rod is formed on this, on described, following two semi-circular supports, point midway at semi-ring is rotationally connected by pivot pin and described connecting rod separately, on described, every interval 90 degree are distributed with three axis positioning pointers on following two semi-circular supports, the tip of each pointer is flexible and locking in the pin hole at place, and point to the center of lower-limb axis jointly, on described, following two semi-circular supports each comfortable knee joints of energy and ankle joint raise the position of full circle Zhou Fangxiang, and make two semi-circular carriage center and limbs dead in line.The labelling that the pick off that also distributing equably on described support excircle is followed the tracks of.The present invention can accurately determine the relative position and the lower-limb axis of measuring system and human body.
Description
Technical field
The present invention relates to a kind of aided measurement device that is used for determining human body lower limbs dissection axis, be that human lower-limb axis is measured the demarcation frame, the research worker that can supply hospital, research unit carries out doing in the three-dimensional motion research relation between accurate skeleton shaft centerline measurement and definition and calculating itself and human body canonical solution section to human body lower limbs, the invention belongs to human motion research and human body knee joint replacement operation field.
Background technology
In human motion rehabilitation research, human motion biomechanics and knee replacements, all need accurately to measure the three-dimensional motion of human body lower limbs, but because the non-systematicness of skeleton shape, and the shape difference between the individuality, determine exactly that the axis of skeleton is the problem of a difficulty always.At present, in above-mentioned human motion rehabilitation research, human motion biomechanics and knee replacements research, generally adopt optics and electromagnetic motion tracking technique, the three-dimensional motion of each sections of limbs is followed the tracks of and analyzed, for example, in knee replacements research, by comparison and mechanical analysis to lower limb three-dimensional motion pattern before and after the joint replacement, can assess operation plan, and the mode of assembling in the design in improvement joint and the operation, the effect of operation improved.In human motion rehabilitation and sport biomechanics, be tracked as the basis with the three-dimensional of moving especially, compare the influence of various factors, and its mechanical mechanism is studied the human motion function.
Because the motion of human body limb all is to rotate around the joint that is positioned at inside of human body, be relatively three-dimensional motion effectively, usually the motion projection with limbs is described in human body standard anatomical planes, promptly by the relatively motion of limbs long bone in human body sagittal plane, coronalplane, and the limbs long bone is around the rotation of self major axis, analyzes and the difference of three-dimensional motion relatively.But sagittal plane, the coronalplane of above-mentioned said limbs long bone self major axis and human body all are difficult to direct explication and measurement.Simultaneously, in all motion trackings are measured, all need tracked pick off attached on the limbs, to obtain the three-dimensional motion of limbs by motion capture system, but when each sensor installation, the three-dimensional space position of its relative limbs skeleton all is difficult to be guaranteed.But the motion positions benchmark that therefore needs a repeated measure, with the individual data items of different people and same individual is measured the three-dimensional motion uniform data that (before as art and postoperative) obtain in a coordinate system, compare, so just can obtain significant conclusion under different situations.The present method that adopts range estimation and estimation in practice usually, feasible measurement to Different Individual is difficult to compare, and is also very poor to the repeatability that same individuality takes multiple measurements.Therefore, be to improve the levels of precision of research, measure better and compare, press for a kind of can subsidiary and definition limbs long bone dissect the auxiliary device of axis and it and human body standard dissection plane relation.
In research before, there has been the scholar that the measurement of lower limb skeletons axis is studied.As: Wu Qichang etc. have studied the method for human lower-limb axis x-ray measurement, and (Wu Qichang etc., Chinese adult cadaver lower limb axis X line is measured, Chinese orthopedics magazine the 6th the 1st phase of volume of January in 1999) measure human lower-limb axis based on the X skiagram; The yellow snow prunus mume (sieb.) sieb.et zucc. becomes cover to study femur line of force positioning accuracy (yellow snow prunus mume (sieb.) sieb.et zucc., Wang Chengtao, the experimentation of femur line of force positioning accuracy in the full knee replacement of area of computer aided, biomedical engineering's magazine, 2006 in full knee replacement with the king; 23 (1): 82～84), they utilize the optical alignment tracker to determine the femoral head center of patient in the full knee replacement, thereby determine its femur line of force, in the positioning accuracy of the line of force is analyzed, adopt the three-dimensional reconstruction model of femur to carry out the verification of precision.At document " a kind of practical describe of femur design standard shaft line-femur axis in artificial marrow joint CAD " (Yao Zhenqiang, the king becomes cover, the medical bio mechanics, 1996 the 11st the 2nd phases of volume) introduced the interior profile centre of form in according to each cross section on the femur CT sheet, fitting a straight line in two orthogonal perspective planes crossing the CT axle determines that femur designs the method for standard shaft line.Said method all is based on Eikonometric, can't directly measure human body.
Chinese patent CN1452946A discloses a kind of " full-automatic femur standard shaft line is determined method ", adopts CT image estimation femur axis; Chinese patent CN1488321A discloses a kind of " the femur localization method of robot total knee arthroplasty ", adopt spinning solution to determine the femoral head center, and set up the femur coordinate system with intercondylar fossa on the femur and inside and outside epicondyle peak, realized the accurate location of femur; Chinese patent CN1285322C discloses a kind of " the tibia localization method of robot total knee arthroplasty ", by determining the ankle joint rotation axis and calculating the ankle joint central point according to internal malleolus and external malleolus point, by tibial tubercle and these two physiology signs of tibial tuberosity, set up the tibia coordinate system in conjunction with the ankle joint center, and the rotation translation relation between definite tibia and the camera coordinate system, the accurate location of having realized tibia.The method for building up of above-mentioned femur and tibia coordinate system is more accurate, but the measurement of each key point is independently to carry out, can't observe the situation of measurement simultaneously, this utility model disclosed method, can be by the femur or the tibia coordinate system of aided measurement device observation post's foundation very intuitively, therefore use conveniently, levels of precision is also higher.
In addition, Chinese patent 2451065 discloses a kind of " Femoral Neck Needle Penetration Navigator ", determines position and the object of reference problem that orientation is threaded a needle by machinery, can realize three-dimensional localization; Chinese patent 2187048 discloses a kind of " fracture of femoral neck internal fixation multifunctional guide device "; Chinese patent 2075069 discloses a kind of " frame-type neck of femur band pin finder ", by specific guiding, determines position and angle.Chinese patent 2354096 discloses a kind of " neck of femur and intertrochanteric fracture drift bolt localizer ", adjusts by body and tightening nail, has realized the drift bolt guiding of direction in space accurately.
Can see by retrieval, in the analysis and research of lower limb exercise test, also lack the simple and practical device of effectively measuring and set up limbs skeleton axis at present, feasible test data disunity to different tested objects, can't compare, test to same tested object also is difficult to repetition, has influenced the precision of test analysis.Its reason just is the complex-shaped of limbs, when following the tracks of the motion of limbs by the index transducer of body surface, can't fix and repeat to lay measurement markers.Auxiliary device disclosed in this invention can be measured the skeleton axial location of lower limb easily, and measurement standard anatomical planes and skeleton axis, and the relative position of the limbs tracking transducer of installing on the limbs, thereby determine the rotation translation relation between femur and tibia and the camera coordinate system, can guarantee good measurement reproducibility, and guarantee the comparability of data between different tested objects.
Summary of the invention
The object of the invention is to provide a kind of easy definite human body lower limbs to dissect the aided measurement device of axis.The invention is characterized in the connection loop bar, gauge point and a plurality of axis positioning pointer that contain first ring support, second ring support, a pair of slip, wherein:
The belled connecting rod of a pair of slip is made up of last connecting rod and lower link, and described lower link is socketed in described going up in the connecting rod slidably, the length of the belled connecting rod of the described a pair of slip of scalable, and described lower link also can rotate in the connecting rod on described;
First ring support is rotationally connected by first pivot pin on the mid point that is positioned at described first ring support and the described connecting rod of going up, so that make the described connecting rod of going up can drive described lower link and swing in perpendicular to the vertical plane on described first ring support at one;
Second ring support, be rotationally connected by second pivot pin on the mid point that is positioned at described second ring support and described lower link, so that make the described lower link can be in, also can rotate in the vertical plane on perpendicular to described ring support down at one around connecting rod axis rotation on described;
The axis positioning pointer, with 90 the degree be distributed in described first ring support and second ring support 180 the degree the semi-ring pin holes in totally six, the center of the semi-ring of place 180 degree is separately all pointed at the tip of each described axis positioning pointer, and in described pin hole, stretching by the radial direction along described 180 semi-rings of spending, and locking;
Labelling is evenly distributed on described first ring support, and on the excircle of described second ring support, and numbering, so that followed the tracks of by optics or electromagnetic location tracking measurement device.
The present invention will provide a kind of aided measurement device that solves accurate skeleton shaft centerline measurement and definition and calculate the relation between this axis and human body canonical solution section, can utilize employed optics or electromagnetic motion tracking system in the research, measure and define the major axis of human body limb sections, the position of measuring basiss such as human dissection plane, determine the rotation translation relation between femur and tibia and the camera coordinate system, thereby accurately determine the relative position relation between measuring system and human body, overcome the inaccuracy that the simple dependence subjective observation that exists in the existing human motion test is caused, be difficult to multiple shortcoming, make the three-dimensional motion analysis of measurement and limbs have scientific and reasonable, simple and easy to do characteristics, designed apparatus structure is simple, adjusting and easy to use, durable in use.
Description of drawings
Fig. 1 is the three-dimensional assembling sketch map of the aided measurement device of human body lower limbs dissection axis;
Fig. 2 is the structure chart that human body lower limbs shown in Figure 1 is dissected first ring support of aided measurement device of axis;
Fig. 3 is a pair of connecting rod of adjustable length
Fig. 4 is that embodiment is given an example
The specific embodiment
The invention discloses and a kind ofly be used for determining that the measurement of human lower-limb axis demarcates frame, it is characterized in that: it contains the support of two semi-ring types up and down, a pair of slidably connecting rod and 6 three main major parts such as axis positioning pointer mutually; Wherein, link with a pair of connecting rod that can regulate length between two supports, first support and connecting rod can rotate in one direction by pivot pin, second support and connecting rod are by the pivot pin of two square crossings, on both direction, rotate, therefore entire bracket and connecting rod have constituted the frame for movement of four spatial degrees of freedom, can measure attached to the outside of human body limb easily; Be equipped with on each support be distributed in 180 the degree semi-rings on, and two, two three axis positioning pointers that respectively become 90 degree, each pointer can stretch in the radius of a circle direction also can be at the locking position of needs, the most advanced and sophisticated center of circle of pointing to support forever of pointer in the telescopic process, therefore when when body surface is measured, the position that each positioning pointer extended line intersects is exactly locus to be positioned; At each support upper edge circumference a plurality of telltale mark points of can be measured by optics or electromagnetic motion capture system and following the tracks of are installed, the position of each gauge point distributes along angles such as circumference, and is numbered.The position of each gauge point can be demarcated in advance, and in actual measurement, can be by measurement to each gauge point position, calculate semi-circular carriage center and testing used optics or the position in the electromagnetic motion measuring system coordinate system, and the three-dimensional space position that is installed in relative this center of motion tracking pick off on the human body.
In use, semi-circular support with an end outside limbs is looped around juxtra-articular, make each positioning pointer point to the center or the skeleton axis position in joint, because each positioning pointer can be stretched, therefore each pointer tip tightly can be against skin surface, the tip-extension line that makes pointer is by axis to be measured or definition, and the tip-extension line of each pointer intersects at the center of semi-circular support, like this, by adjusting the positioning pointer on the end support, the center of semi-circular support and axis or articulation center to be measured can be coincided, utilize commercial optics or electromagnetic location tracking measurement device, can measure by the telltale mark on double ring support, thereby obtain this carriage center point three-dimensional space position in measuring system, axis promptly to be measured or articulation center position.
In the semi-circular support process in above-mentioned location, by rotation around semi-circular support, can the direction of a pair of positioning pointer on the straight line will be dropped on wherein, be adjusted into the canonical solution section perpendicular, just can be by the direction of positioning pointer on above-mentioned carriage center point and the semi-circular support, define the locus of standard dissection surface in this time measuring, thereby obtain the sagittal plane of institute's researching human body or the relative position relation between coronalplane and measuring optics or electromagnetic location tracking measurement device.
Because semi-circular support is connected on the connecting rod of adjustable length by pivot pin, therefore can swinging mounting and the direction of connecting rod, make connecting rod approaching consistent with the long axis direction of limbs, and with second semi-circular support casing in the suitable position of the limbs other end, by adjusting the position of this semi-circular support, make each positioning pointer point to the center or the skeleton axis position in limbs other end joint, thereby obtain the position of another carriage center point.The on line of two ends carriage center point has just defined the major axis of limbs skeletons.By measurement, can obtain the major axis of the limbs sections studied and the relative position relation between measuring optics or electromagnetic location tracking measurement device to backing positions.
Further, behind dissection surface that has defined the limbs sections according to the method described above and limbs axis, the motion of limbs is described just to be become and can standardize, and easy repeated measure.For example, behind the major axis that has defined human body sagittal plane and femur, tibia, the projection of relative motion in sagittal plane of skeleton and tibia major axis, just corresponding kneed flexion and extension, and the tibia major axis departs from sagittal angle, the just corresponding abduction or the motion of interior receipts of tibia.And around the motion correspondence of tibia major axis self inward turning and the outward turning campaign of tibia.By measuring the determined skeleton major axis of two semi-circular carriage center of above-mentioned aided measurement device simultaneously, the determined dissection surface of positioning pointer and upper bracket, and the human motion track frame that adheres on the limbs, can determine the rotation translation relation between femur and tibia and the camera coordinate system exactly.
For calculating the center of semi-circular support, and calculate the three-dimensional motion tracking transducer that is installed on the human body position relation, need to consider following coordinate transform problem with respect to this center.At first, three-dimensional motion tracking transducer on semi-circular support and the human body is all followed the tracks of by optics or electromagnetic location tracking measurement device, therefore can obtain in the measuring system coordinate system three-dimensional location coordinates of each gauge point on the semi-circular support, therefore can calculate the center of each semi-circular support, and the position of dissection surface.By three-dimensional location coordinates to each gauge point on the three-dimensional motion tracking transducer on the human body, can calculate the center and the direction of this tracking transducer coordinate system, therefore can set up the relative position of the three-dimensional position of the determined skeleton major axis of semi-circular support, i.e. coordinate transform relation with respect to the three-dimensional motion tracking transducer on the human body.So just determined the rotation translation relation between femur or tibia and the camera coordinate system.
In sum, the invention discloses a kind of aided measurement device that is used for determining human body lower limbs dissection axis, can measure and demarcate the skeleton axis and the canonical solution section of human body lower limbs, it is characterized in that:
1. this measuring device is by upper and lower two semi-circular supports, a pair of connecting rod of adjustable length, and 6 major parts such as axis positioning pointer constitute;
2. on the semi-ring that is distributed in 180 degree of three axis positioning pointers of each of installing on the upper and lower support with 90 degree, the center of semi-circular support is separately pointed at its tip respectively, and can regulate at radial direction and stretch, and can be at the locking position of needs;
3. the gauge point that can be followed the tracks of by optics or electromagnetic location tracking measurement device all is installed on the excircle on the upper and lower support, each gauge point is along the circumference uniform distribution, each gauge point is numbered, its relative center of circle and demarcated in advance with respect to the position of each axis positioning pointer centrage therefore can be by calculating the position of semi-circular carriage center to the measurement of gauge point position;
4. link by pivot pin between upper bracket and upper connecting rod, so can on an axis parallel, swing between upper bracket and upper connecting rod, to adapt in the measurement use at different positions with a pair of positioning pointer on the support;
5. connect by sliding between upper and lower connecting rod, therefore can be by the length of sliding and regulating whole connecting rod, the limbs that adapt to different length are measured.The damping of its slip can be regulated;
6. connect by two pivot pins between lower connecting rod and lower carriage, therefore can rotate, and can on an axis parallel, swing, to adapt to the measurement of limbs with differently curved degree with a pair of positioning pointer on the support at axis around connecting rod;
The aided measurement device of above-mentioned human body lower limbs dissection axis is relatively simple for structure, position by the anatomical planes and the limbs skeleton axis of support human body, the limb motion reference frame of different people can be united, thereby improve the precision of experiment and the comparability of motion measurement data, and improve the repeatability of repeatedly measuring.The research worker that this device is fit to hospital, research unit is carried out the research and the clinical measurement of human motion rehabilitation research, human motion biomechanics and knee replacements.
Can actual fabrication the present invention with reference to accompanying drawing 1,2,3.This human body lower limbs is dissected the aided measurement device of axis, by upper and lower two semi-circular supports 11 and 12, and a pair of connecting rod 21 and 22 of adjustable length, and six major parts such as axis positioning pointer constitute.The semi-circular support 11 in top wherein connects with last link rod 21 mutually by pivot pin 31; The semi-circular support in bottom connects with following link rod 22 mutually by pivot pin 32; Can be between the up-and-down rod 21 and 22 along the axis direction sliding extension, and can rotate around axis.Three axis positioning pointers 41 are installed on first ring support 1, on their semi-rings that is distributed in 180 degree with 90 degree, the center of semi-ring is all pointed at the tip of pointer 41, and can be flexible along radial direction, the other lock screw 61 that is equipped with of each axis positioning pointer, by screwing lock screw 61, axis positioning pointer 41 lockings that adjusting can be put in place.The gauge point 51 that can be followed the tracks of by optics or electromagnetic location tracking measurement device is installed on the excircle of first ring support 11, and each gauge point equidistantly distributes, its at interval angle of circumference be 15 degree.Under demarcation situation in advance, can pass through the coordinate position of the coordinate Calculation ring heart of each gauge point 10, and calculate the direction of each axis positioning pointer 8.
Similar with first ring support 11, on the semi-circular support 12 of infra three axis positioning pointers 42 are installed also, on their semi-rings that is distributed in 180 degree with 90 degree, the center of semi-ring is all pointed to down at the tip of pointer 42, and can be flexible along radial direction, each axis positioning pointer is other to be equipped with lock screw 62, by screwing lock screw 62, and axis positioning pointer 42 lockings that adjusting can be put in place.The gauge point 52 that can be followed the tracks of by optics or electromagnetic location tracking measurement device is installed on the excircle of the semi-circular support 12 of infra, and each gauge point equidistantly distributes, its at interval angle of circumference be 15 degree.Under demarcation situation in advance, can pass through the coordinate position of the coordinate Calculation ring heart of each gauge point 52, and calculate the direction of each axis positioning pointer 42.
Subsidiary with human tibia is an example, in actual use, layout according to Fig. 4, semi-circular support 11 with the upper end outside limbs is looped around juxtra-articular, make each positioning pointer 41 point to the center in joints, i.e. skeleton axis position is because each positioning pointer 41 can be stretched, each pointer tip tightly can be against skin surface by regulating, the extended line that makes pointer 41 tips is by axis to be measured or definition.Because the tip-extension line of each pointer intersects at semi-circular 11 center forever, when each positioning pointer 41 on the support 11 is all pointed to articulation center, just the center of semi-circular support 11 is overlapped with axis to be measured (or articulation center).Utilize commercial optics or electromagnetic location tracking measurement device, telltale mark point 51 on double ring support 11 is measured, just can obtain the three-dimensional space position of central point in measuring system, axis promptly to be measured or the articulation center position of this support 11.
In semi-circular support 11 processes in above-mentioned location, by rotation around semi-circular support 11 self circumference, can be adjusted into the sagittal plane 7 of human body the direction of a pair of co-axial positioning pointer 41 wherein perpendicular, the direction of positioning pointer 41 on central point that just can be by above-mentioned support 11 and the semi-circular support, define the locus of sagittal plane 7 in this time measuring, thereby obtain the relative position relation of 8 in the sagittal plane 7 of institute's researching human body and measuring optics or electromagnetic location tracking measurement device.Simultaneously, by three-dimensional motion tracking transducer 9 on the human body, can calculate the coordinate position relation between this pick off 9 and the human body sagittal plane 7.
Because semi-circular support 11 is connected on the connecting rod 31 of adjustable length by pivot pin 31, therefore can swinging mounting 11 and the direction of connecting rod 31, make the axis of connecting rod 31 approaching consistent with the long axis direction of tibia, and second semi-circular support 12 be enclosed within the suitable position of the limbs other end, by flexible connecting rod length and rotation connecting rod 21,22, can adjust the position of semi-circular support 12, make each positioning pointer 42 point to the center or the skeleton axis position in limbs other end joint, thereby obtain the center position of another support 12.The on line of two ends carriage center point has just defined the major axis 10 of limbs skeletons.By measurement, can obtain the relative position relation of 7 in the major axis 10 of the tibia studied and measuring optics or electromagnetic location tracking measurement device to support 11 and support 12 positions.And can obtain coordinate transform relation between the major axis 10 of three-dimensional motion tracking transducer 9 and limbs skeleton on the human body.
For calculating the center of semi-circular support 11 and support 12, and calculate the three-dimensional motion tracking transducer 9 that is installed on the human body position relation, need to consider following coordinate transform problem with respect to this center.At first, semi-circular support 11,12, and the three-dimensional motion tracking transducer 9 on the human body is all followed the tracks of by optics or electromagnetic location tracking measurement device 7, therefore simultaneously in the measurement and positioning tracing measurement system coordinate system, each gauge point 41 and 42 three-dimensional location coordinates on each semi-circular support 11 and 12, and measure the three-dimensional location coordinates of each gauge point on the three-dimensional motion tracking transducer 9 on the human body.Therefore can directly calculate the relative position of the three-dimensional position of each gauge point 41 on the semi-circular support 11,12 and 42 with respect to each gauge point on the three-dimensional motion tracking transducer 9 on the human body, the coordinate transform that has promptly obtained translation between the two and rotation concerns.
Claims (2)
1. frame is demarcated in a measurement that is used for definite human lower-limb axis, it is characterized in that: contain connection loop bar, gauge point and a plurality of axis positioning pointer of first ring support, second ring support, a pair of slip, wherein:
The a pair of loop bar that is slidingly connected is made up of last connecting rod and lower link, and described lower link is socketed in described going up in the connecting rod slidably, the length of the described a pair of loop bar that is slidingly connected of scalable, and described lower link also can rotate in the connecting rod on described;
First ring support is rotationally connected by first pivot pin on the mid point that is positioned at described first ring support and the described connecting rod of going up, and swings in a vertical plane perpendicular to described first ring support so that make described upward connecting rod can drive described lower link;
Second ring support, be rotationally connected by second pivot pin on the mid point that is positioned at described second ring support and described lower link, so that described lower link can also can be rotated in a vertical plane perpendicular to described second ring support in around connecting rod axis rotation on described;
Per two adjacent axis positioning pointers, with 90 the degree intervals be distributed in respectively described first ring support 180 the degree scopes pin hole in and second ring support 180 the degree scopes pin hole in, totally six, the center of the semi-ring support of place 180 degree is separately all pointed at the tip of each described axis positioning pointer, and in described pin hole, stretching by the radial direction along described 180 semi-rings of spending, and locking;
Gauge point is evenly distributed on the excircle of described first ring support and described second ring support, and numbering, so that followed the tracks of by optics or electromagnetic location tracking measurement device.
2. a kind of measurement demarcation frame that is used for determining human lower-limb axis according to claim 1 is characterized in that the angle intervals between described each adjacent marker point is 15 degree.
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| CNB2008102230252A CN100569181C (en) | 2008-09-26 | 2008-09-26 | A kind of measurement demarcation frame that is used for determining human lower-limb axis |
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| CNB2008102230252A CN100569181C (en) | 2008-09-26 | 2008-09-26 | A kind of measurement demarcation frame that is used for determining human lower-limb axis |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107669349A (en) * | 2017-10-11 | 2018-02-09 | 余江 | A kind of device positioned to late-segmental collapse, kneecap midpoint and the second phalanx and location equipment |
| CN107981867B (en) * | 2017-12-04 | 2020-08-11 | 成都思悟革科技有限公司 | Knee rehabilitation assisting device based on electromagnetic field motion capture |
| CN108158592B (en) * | 2018-02-13 | 2024-01-23 | 上海康定医疗器械有限公司 | Joint rotation axis positioning instrument |
| CN109771053B (en) * | 2018-12-28 | 2021-04-20 | 西安交通大学 | Intraoperative lower limb force line measuring tool |
| CN109846557B (en) * | 2019-01-24 | 2021-05-04 | 北京积水潭医院 | Be arranged in distal bone of thighbone tumour art to cut bone length measuring tool |
| CN112494098A (en) * | 2020-12-24 | 2021-03-16 | 山东大学齐鲁医院(青岛) | Tibial plateau cuts bone power line verification device |
| CN116509380B (en) * | 2023-04-14 | 2023-12-29 | 江苏泰科博曼医疗器械有限公司 | Knee joint coordinate establishment device, method and system |
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