CN115281900A - Automatic adjusting system for rotation center of intervertebral disc prosthesis - Google Patents
Automatic adjusting system for rotation center of intervertebral disc prosthesis Download PDFInfo
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- CN115281900A CN115281900A CN202210987129.0A CN202210987129A CN115281900A CN 115281900 A CN115281900 A CN 115281900A CN 202210987129 A CN202210987129 A CN 202210987129A CN 115281900 A CN115281900 A CN 115281900A
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- 230000033001 locomotion Effects 0.000 claims abstract description 46
- 238000013500 data storage Methods 0.000 claims abstract description 8
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 230000008859 change Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 4
- 238000004088 simulation Methods 0.000 description 3
- 210000004872 soft tissue Anatomy 0.000 description 2
- 210000002517 zygapophyseal joint Anatomy 0.000 description 2
- 206010061246 Intervertebral disc degeneration Diseases 0.000 description 1
- 208000004550 Postoperative Pain Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007850 degeneration Effects 0.000 description 1
- 208000018180 degenerative disc disease Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000007943 implant Substances 0.000 description 1
- 208000021600 intervertebral disc degenerative disease Diseases 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000035790 physiological processes and functions Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2/44—Joints for the spine, e.g. vertebrae, spinal discs
- A61F2/442—Intervertebral or spinal discs, e.g. resilient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/48—Operating or control means, e.g. from outside the body, control of sphincters
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Transplantation (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Cardiology (AREA)
- Animal Behavior & Ethology (AREA)
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- Orthopedic Medicine & Surgery (AREA)
- Prostheses (AREA)
Abstract
The invention discloses an automatic adjusting system for a rotation center of an intervertebral disc prosthesis, which relates to the technical field of intelligent medical instruments and comprises a position and posture sensor, a central processing unit, a power supply module, a data storage module and a nucleus pulposus prosthesis driving device; the method comprises the steps of acquiring position and pose information of a vertebral body and a preset position of a nucleus pulposus prosthesis corresponding to the position and pose information of the intervertebral disc prosthesis through a physiological motion reconstruction system, calling the position of the nucleus pulposus prosthesis according to the position and pose sensor data, and enabling the nucleus pulposus prosthesis to be located at the position of calling the nucleus pulposus prosthesis through a nucleus pulposus prosthesis driving device, namely changing the rotation center of the intervertebral disc prosthesis by controlling the position of the nucleus pulposus prosthesis, so that the problem that the rotation center of the existing artificial intervertebral disc cannot be adjusted is solved.
Description
Technical Field
The invention relates to the technical field of intelligent medical instruments, in particular to an automatic adjusting system for a rotation center of an intervertebral disc prosthesis.
Background
Intervertebral disc replacement is an effective procedure for the treatment of degenerative disc disease of the spine, with the aim of preserving the physiological motor functions of the spinal segment. The functional segment of the spine (FSU) comprises an upper vertebral body, a lower vertebral body, an intervertebral disc, a posterior facet joint, ligaments, surrounding soft tissues and other structures, and the movement of the FSU comprises angular movement and translational movement of one vertebral body relative to the other vertebral body. The clinical practice usually uses a range of motion (ROM) to evaluate the mobility of the artificial cervical intervertebral disc, where the range of motion reflects the change of the amount of motion between vertebrae, and the center of rotation (COR) reflects the change of the kinematic properties, and has high sensitivity to the change of the biomechanical environment of the cervical vertebrae. The concept of center of rotation is derived from physics, and is used to describe the planar motion of an object, and the basic meaning is as follows: when the object moves in a plane, an instantaneous zero-speed point exists at the moment of the movement of the object, and the point is the rotation center of the object.
For example, in the C5-C6 segment, flexion of the C5 vertebral body relative to C6 is accompanied by some translational movement. The movement of the C5 vertebral body from the initial position to the flexed position facilitated by this combination of angular and translational movement can be represented by a pure angular movement of the C5 vertebral body about the center of rotation relative to C6. I.e. any two motion positions of a certain vertebral body in a motion segment can determine a unique COR. However, moving the vertebral body around this two-position based average COR does not adequately capture the path of motion during the two end positions of motion of the vertebral body. Because the Instantaneous Center of Rotation (ICR) does not remain stationary during the arcuate motion. The movement of the ICR depends on the amount of translation associated with flexion-extension movement, which in turn depends on the level of the spinal motion segment and the health of the motion segment, and thus the ICR varies from patient to patient and from segment to segment and from motion state to motion state.
When the functional segment of the spine makes flexion and extension, lateral bending, rotation and coupling motions, the physiological instantaneous rotation center is changed continuously, and the rotation center of the current artificial intervertebral disc does not accord with the characteristics of a normal intervertebral disc under a physiological state, so that the motion quality of the segment can be reduced, abnormal load sharing of uncinate vertebral joints, facet joints and soft tissues is caused, postoperative pain and degeneration acceleration are caused, and the operation curative effect of CDR is influenced.
Disclosure of Invention
The technical problems solved by the invention are as follows: provides an automatic adjusting system for the rotation center of an intervertebral disc prosthesis, which solves the problem that the rotation center of the existing artificial intervertebral disc cannot be adjusted.
The invention adopts the technical scheme for solving the technical problems that: an automatic center of rotation adjustment system for an intervertebral disc prosthesis mounted between adjacent vertebral bodies, the intervertebral disc prosthesis comprising a positionally adjustable nucleus prosthesis for adjusting the position of the center of rotation of the intervertebral disc prosthesis movement;
the automatic adjusting system for the rotation center of the intervertebral disc prosthesis comprises a position and posture sensor, a central processing unit, a power supply module, a data storage module and a nucleus prosthesis driving device;
the pose sensor is used for detecting pose information of the intervertebral disc prosthesis;
the central processor calls the position of the nucleus pulposus prosthesis according to the pose sensor data, and the nucleus pulposus prosthesis is positioned at the position of the called nucleus pulposus prosthesis through the nucleus pulposus prosthesis driving device;
the power supply module is used for supplying power;
the data storage module is used for storing data, and the stored data comprises vertebral body pose information and a preset position of the nucleus pulposus prosthesis corresponding to the vertebral body pose information.
Further, the automatic adjusting system for the rotation center of the intervertebral disc prosthesis also comprises at least two displacement sensors, wherein the displacement sensors are used for acquiring the positions of points on the intervertebral disc prosthesis; the stored data also comprises vertebral body pose information and a corresponding preset position of a rotation center; the central processing unit is also used for calculating the position of the rotation center of the intervertebral disc prosthesis through the data of the two displacement sensors, judging whether the calculated position of the rotation center of the intervertebral disc prosthesis and the preset position of the rotation center are within an error range, and if not, adjusting the stored position of the nucleus pulposus prosthesis.
Further, the adjusting the position of the stored nucleus prosthesis comprises the following steps:
s01, placing the nucleus pulposus prosthesis in the center of the adjustable position range of the nucleus pulposus prosthesis through a nucleus pulposus prosthesis driving device;
s02, when a human body moves, the pose information of the vertebral body correspondingly changes, and the pose information change of the vertebral body is differentiated to obtain a plurality of pose points of the vertebral body;
s03, aiming at each pose point of the vertebral body, the central processing unit adjusts the position of the nucleus prosthesis through the nucleus prosthesis driving device;
s04, acquiring the positions of two points of the intervertebral disc prosthesis through two displacement sensors, determining the position of a rotation center through the intersection point of the perpendicular bisectors of the position connecting lines of the two points in the adjacent pose points of the vertebral body, and judging whether the determined position of the rotation center and the preset position of the rotation center are within an error range;
s05, if the position is not in the preset range, repeating S03 and S04 until the determined rotation center position is in the error range with the preset position;
and S06, if so, replacing the nucleus pulposus prosthesis position corresponding to the current pose point of the vertebral body with the stored nucleus pulposus prosthesis position corresponding to the current pose point, and using the nucleus pulposus prosthesis position as a new basis for adjusting the nucleus pulposus prosthesis position by the central processing unit.
Further, the vertebral body position and position information and the corresponding preset position of the rotation center as well as the vertebral body position and position information and the corresponding preset position of the nucleus prosthesis are obtained through a physiological movement reconstruction system.
Furthermore, the automatic adjusting system for the rotation center of the intervertebral disc prosthesis further comprises a data transmission module, wherein the data transmission module is used for transmitting the position and the position of the vertebral body and the preset position of the rotation center corresponding to the position and the preset position of the nucleus pulposus prosthesis corresponding to the position and the position of the vertebral body.
Further, the pose information includes a rotation angle and a movement distance.
The invention has the beneficial effects that: according to the automatic adjusting system for the rotation center of the intervertebral disc prosthesis, provided by the invention, the posture information of a vertebral body and the preset position of the corresponding nucleus pulposus prosthesis are obtained through the physiological motion reconstruction system, the posture information of the intervertebral disc prosthesis is detected through the posture sensor, the position of the nucleus pulposus prosthesis is called according to the posture sensor data, and the nucleus pulposus prosthesis is positioned at the position of the called nucleus pulposus prosthesis through the nucleus pulposus prosthesis driving device, namely the rotation center of the intervertebral disc prosthesis is changed by controlling the position of the nucleus pulposus prosthesis, so that the problem that the rotation center of the existing artificial intervertebral disc cannot be adjusted is solved.
Drawings
FIG. 1 is a block diagram of the circuit structure of the automatic adjusting system for the rotation center of the intervertebral disc prosthesis according to the invention.
Detailed Description
The intervertebral disc prosthesis in the automatic adjusting system for the rotation center of the intervertebral disc prosthesis is arranged between adjacent vertebral bodies, the intervertebral disc prosthesis comprises a nucleus pulposus prosthesis with adjustable position, and the nucleus pulposus prosthesis is used for adjusting the position of the rotation center of the movement of the intervertebral disc prosthesis;
the automatic adjusting system for the rotation center of the intervertebral disc prosthesis is shown in the attached drawing 1 and comprises a pose sensor, a central processing unit, a power supply module, a data storage module and a nucleus prosthesis driving device;
the pose sensor is used for detecting pose information of the intervertebral disc prosthesis;
the central processor calls the position of the nucleus pulposus prosthesis according to the pose sensor data, and the nucleus pulposus prosthesis is positioned at the position of the called nucleus pulposus prosthesis through the nucleus pulposus prosthesis driving device;
the power supply module is used for supplying power;
the data storage module is used for storing data, and the stored data comprises vertebral body pose information and a preset position of the nucleus pulposus prosthesis corresponding to the vertebral body pose information.
Specifically, the vertebral body position and pose information and the preset position of the nucleus pulposus prosthesis corresponding to the vertebral body position and pose information are obtained through a physiological motion reconstruction system, the physiological motion reconstruction system comprises CT reconstruction, motion simulation, rotation center searching and the determination of the preset position of the nucleus pulposus prosthesis, and the specific process comprises the following steps: the method comprises the steps of firstly obtaining a spine CT image of a patient needing to implant the intervertebral disc prosthesis, reconstructing a spine model, then utilizing the spine model to carry out motion simulation, simulating all motions of the patient, namely obtaining spine motion conditions corresponding to all the motions, thereby obtaining corresponding pose information of the intervertebral disc prosthesis needing to be implanted, differentiating the pose information of the intervertebral disc prosthesis, obtaining a plurality of pose points of a vertebral body, determining the position of a rotation center through the intersection point of perpendicular lines between the positions of two points in adjacent pose points of the vertebral body aiming at each pose point of the vertebral body, namely obtaining the corresponding relation between the pose point of the vertebral body and the rotation center, replacing the corresponding position in the spine model with the intervertebral disc prosthesis, carrying out motion simulation by setting different nucleus pulposus prosthesis positions, and when the calculated position of the rotation center of the current pose point of the intervertebral disc prosthesis and the determined position of the rotation center are within an error range, setting the current nucleus pulposus prosthesis position as the preset position of the nucleus pulposus prosthesis corresponding to the current pose point.
When a human body moves, the pose information of the intervertebral disc prosthesis correspondingly changes, the pose sensor is used for detecting the real-time pose information of the intervertebral disc prosthesis, the central processing unit is used for calling the position of the nucleus pulposus prosthesis in the data storage module according to the real-time pose, the nucleus pulposus prosthesis is positioned at the called position of the nucleus pulposus prosthesis through the nucleus pulposus prosthesis driving device, the real-time situation of the motion of the human body is followed, the position of the nucleus pulposus prosthesis is controlled, the rotation center of the intervertebral disc prosthesis is changed, and the actual position of the rotation center of the intervertebral disc prosthesis and the preset position of the rotation center calculated through simulated motion are within an error range.
Further, the automatic adjusting system for the rotation center of the intervertebral disc prosthesis further comprises at least two displacement sensors, wherein the displacement sensors are used for acquiring the positions of points on the intervertebral disc prosthesis; the stored data also comprises vertebral body pose information and a corresponding rotation center preset position; the central processing unit is also used for calculating the position of the rotation center of the intervertebral disc prosthesis according to the data of the two displacement sensors, judging whether the calculated position of the rotation center of the intervertebral disc prosthesis and the preset position of the rotation center are within an error range, and if not, adjusting the stored position of the nucleus pulposus prosthesis.
Specifically, because the human body is grown and healed after implanting the intervertebral disc prosthesis, probably make the condition that the nucleus pulposus prosthesis position that corresponds to same position point of centrum and rotation center position are inconsistent, consequently, can transfer two displacement sensor's data through central processing unit through increasing two at least displacement sensor, the transfer basis of two sensors is: and the two sensors with the largest data change of the adjacent position and pose point sensors determine the actual position of the rotation center through the intersection point of the displacement perpendicular bisectors of the two points, and judge whether the actual position of the rotation center is still within the error range of the preset position of the rotation center, so that the position of the nucleus pulposus prosthesis can be corrected.
Further, the adjusting the position of the stored nucleus prosthesis includes the steps of:
s01, placing the nucleus pulposus prosthesis in the center of the adjustable position range of the nucleus pulposus prosthesis through a nucleus pulposus prosthesis driving device;
s02, when a human body moves, the pose information of the vertebral body correspondingly changes, and the pose information change of the vertebral body is differentiated to obtain a plurality of pose points of the vertebral body;
in particular, the differentiation rules are consistent with those in physiological motion reconstruction systems.
S03, aiming at each pose point of the vertebral body, the central processing unit adjusts the position of the nucleus prosthesis through the nucleus prosthesis driving device;
specifically, in step S03, the position of the nucleus pulposus prosthesis may be randomly adjusted, or the position of the nucleus pulposus prosthesis may be sequentially adjusted according to different directions, and the adjustment direction of the nucleus pulposus prosthesis may be changed by moving the position of the rotation center away from or close to a preset position of the rotation center.
S04, acquiring the positions of two points of the intervertebral disc prosthesis through two displacement sensors, determining the position of a rotation center through the intersection point of the perpendicular bisectors of the position connecting lines of the two points in the adjacent pose points of the vertebral body, and judging whether the determined position of the rotation center and the preset position are within an error range;
s05, if the position is not in the preset range, repeating the S03 and the S04 until the determined rotation center position is in the error range with the preset position;
and S06, if so, replacing the nucleus pulposus prosthesis position corresponding to the current pose point of the vertebral body with the stored nucleus pulposus prosthesis position corresponding to the current pose point, and using the nucleus pulposus prosthesis position as a new basis for adjusting the nucleus pulposus prosthesis position by the central processing unit.
Furthermore, the automatic adjusting system for the rotation center of the intervertebral disc prosthesis further comprises a data transmission module, and the data transmission module is used for transmitting the position and the position information of the vertebral body and the preset position of the rotation center corresponding to the position and the position information of the vertebral body and the preset position of the nucleus pulposus prosthesis corresponding to the position and the position information of the vertebral body.
In particular, this has the advantage that it is more convenient to reposition or adjust the position of the nucleus prosthesis to a predetermined position of the centre of rotation, and to recall the data as a basis for adjusting the position of the nucleus prosthesis in another intervertebral disc prosthesis.
Further, the pose information includes a rotation angle and a movement distance.
Specifically, the rotation angle is a rotation angle of the intervertebral disc prosthesis in the vertical direction and the horizontal direction with respect to the lower vertebral body, and the movement distance is a relative displacement of the intervertebral disc prosthesis with respect to the lower vertebral body.
Claims (6)
1. An automatic adjustment system for the rotation center of an intervertebral disc prosthesis, wherein the intervertebral disc prosthesis is arranged between adjacent vertebral bodies, and is characterized in that the intervertebral disc prosthesis comprises a nucleus pulposus prosthesis with adjustable position, and the nucleus pulposus prosthesis is used for adjusting the position of the rotation center of the intervertebral disc prosthesis;
the automatic adjusting system for the rotation center of the intervertebral disc prosthesis comprises a pose sensor, a central processing unit, a power supply module, a data storage module and a nucleus prosthesis driving device;
the pose sensor is used for detecting pose information of the intervertebral disc prosthesis;
the central processor calls the position of the nucleus pulposus prosthesis according to the pose sensor data, and the nucleus pulposus prosthesis is positioned at the position of the called nucleus pulposus prosthesis through the nucleus pulposus prosthesis driving device;
the power supply module is used for supplying power;
the data storage module is used for storing data, and the stored data comprises vertebral body pose information and a preset position of the nucleus pulposus prosthesis corresponding to the vertebral body pose information.
2. The system of claim 1, further comprising at least two displacement sensors for acquiring the position of a point on the intervertebral disc prosthesis; the stored data also comprises vertebral body pose information and a corresponding preset position of a rotation center; the central processing unit is also used for calculating the position of the rotation center of the intervertebral disc prosthesis through the data of the two displacement sensors, judging whether the calculated position of the rotation center of the intervertebral disc prosthesis and the preset position of the rotation center are within an error range, and if not, adjusting the stored position of the nucleus pulposus prosthesis.
3. The automatic adjustment system for the center of rotation of an intervertebral disc prosthesis according to claim 2, wherein the adjustment of the position of the stored nucleus prosthesis comprises the steps of:
s01, placing the nucleus pulposus prosthesis in the center of the adjustable position range of the nucleus pulposus prosthesis through a nucleus pulposus prosthesis driving device;
s02, when a human body moves, the pose information of the vertebral body correspondingly changes, and the pose information change of the vertebral body is differentiated to obtain a plurality of pose points of the vertebral body;
s03, aiming at each pose point of the vertebral body, the central processor adjusts the position of the nucleus pulposus prosthesis through the nucleus pulposus prosthesis driving device;
s04, collecting the positions of two points of the intervertebral disc prosthesis through two displacement sensors, determining the position of a rotation center through the intersection point of the perpendicular bisectors of the position connecting lines of the two points in the adjacent pose points of the vertebral body, and judging whether the determined position of the rotation center and the preset position of the rotation center are within an error range or not;
s05, if the position is not in the preset range, repeating S03 and S04 until the determined rotation center position is in the error range with the preset position;
and S06, if so, replacing the nucleus pulposus prosthesis position corresponding to the current position point of the vertebral body with the stored nucleus pulposus prosthesis position corresponding to the current position point, and using the nucleus pulposus prosthesis position as a new basis for adjusting the nucleus pulposus prosthesis position by the central processing unit.
4. The system of claim 2, wherein the vertebral body pose information and its corresponding preset position of the center of rotation and the vertebral body pose information and its corresponding preset position of the nucleus prosthesis are obtained by a physiological motion reconstruction system.
5. The system of claim 4, further comprising a data transmission module for transmitting the pose information of the vertebral body and the corresponding preset position of the rotation center and the pose information of the vertebral body and the corresponding preset position of the nucleus prosthesis.
6. The intervertebral disc prosthesis rotation center automatic adjustment system according to any one of claims 1 to 5, wherein the pose information includes a rotation angle and a movement distance.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210987129.0A CN115281900A (en) | 2022-08-17 | 2022-08-17 | Automatic adjusting system for rotation center of intervertebral disc prosthesis |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210987129.0A CN115281900A (en) | 2022-08-17 | 2022-08-17 | Automatic adjusting system for rotation center of intervertebral disc prosthesis |
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| CN202210987129.0A Pending CN115281900A (en) | 2022-08-17 | 2022-08-17 | Automatic adjusting system for rotation center of intervertebral disc prosthesis |
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| CN108606799A (en) * | 2018-05-11 | 2018-10-02 | 南京航空航天大学 | A kind of sitting posture suitable for computer user measures and alarm set |
| CN108969162A (en) * | 2018-07-27 | 2018-12-11 | 深圳清华大学研究院 | A kind of intervertebral motion retaining device |
| CN114081688A (en) * | 2021-11-12 | 2022-02-25 | 四川大学华西医院 | Fuse adjustable intelligent backbone intervertebral implant of non-fusion |
| CN115399925A (en) * | 2022-08-17 | 2022-11-29 | 四川大学华西医院 | Intervertebral disc prosthesis with adjustable centre of rotation |
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