碩士 / 國立臺灣師範大學 / 機電工程學系 / 105 / As Taiwan has entered the aging society, people who have undergone total hip arthroplasty (HIA) due to hip degeneration have risen. The operation is to replace the damaged femoral or cartilage tissue by the artificial metal acetabular component, so the location of the acetabular component determines the postoperative range of motion and pain of the e hip. Currently widely used positioning methods, including the CT computed tomography, X-ray, infrared optical system, and so on, is to obtain the patient pelvic information and the relative positions between the acetabular components. In this paper, a novel positioning method for the orientation of the acetabular element is proposed by means of an inertial sensing device and a magnetometer. This navigation operation is via a two-point positioning way. We use two sets of sensing modules combined with a magnetometer, one serves as a reference datum, and is fixed to the sacrum of the back of the human body. The sacrum and the pelvis belong to the same part, and with the shortest distance of the skin and bone. The other is defined as the relative rotation coordinate system. In addition, the acetabular component with 3 degrees freedom ball joint is designed and combined, and then through the Bluetooth transmission and reference datum point to communicate relative rotation coordinate system to calculate the relative rotation, so that the acetabular component can be measured relative to the pelvic position before the tilt and outreach angle. In the calculation of the rotation angle of the sensing module, the information fusion algorithm of the hybrid Kalman-complementary filter is proposed to improve the accuracy. Thus, the cumulative error caused by the deviation value of the gyroscope can be reduced, and the interference from the magnetic field can be avoided with the stability. Finally, it is proved that the proposed navigation-like system has low cost, high precision, low infection and simple operation in the application to the artificial hip replacement under the navigation operation of inertial sensing device and magnetometer.
| Identifer | oai:union.ndltd.org:TW/105NTNU5657010 |
| Date | January 2017 |
| Creators | Pan, Wen-Pin, 潘文彬 |
| Contributors | Chen, Chun-Ta, 陳俊達 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 117 |
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