利用双平面动态X光追踪技术测量精确的关节运动

Measure precise joint movement using dual-plane dynamic X-ray tracking technology

双平面动态X光追踪技术是目前骨科领域非侵入式测量关节运动的最佳手段之一。通过一对互呈角度的X光摄影机拍摄的动态关节运动影像，搭配CT扫描重建得到的骨骼三维模型，通过2D-3D配准将三位骨骼与动态的二维影像匹配，得到精准的关节运动学信息。本实验室基于该系统研究了髋关节、膝关节与肘关节的运动特点，与临床问题紧密结合，实施了人工髋关节假体在体生物力学研究、膝关节不同韧带的重建手术对关节生物力学的影响、肘关节生物力学研究等。

The dual-plane dynamic X-ray tracking technology is currently one of the best methods for non-invasive measurement of joint motion in the orthopedics field. The dynamic joint motion images taken by a pair of mutually angled X-ray cameras are combined with the 3D bone model reconstructed by CT scanning, and the three bones are matched with the dynamic 2D image through 2D-3D registration to obtain accurate joint kinematics information. Based on this system, the laboratory has studied the motion characteristics of the hip, knee and elbow joints, and is closely integrated with clinical problems. It has implemented in-vivo biomechanics research of artificial hip joint prostheses, and reconstruction of different ligaments of the knee joint. The impact of elbow joint biomechanics research, etc.

基于KUKA机械臂的多平台离体力学测试系统开发与应用

Development and application of multi-platform in vitro mechanics test system based on KUKA manipulator

依托交大和九院，我们搭建了机械臂关节功能测试离体实验平台，包含六轴机械臂、力规与光学全场应变测量仪。结合上述实验设备，自行整合接口开发了一套六自由度机械臂关节功能测试系统，实现对离体关节进行位置/力量的混合控制。基于上述的位置/力量的混合控制理论，经由机械臂测试系统模拟临床实验及功能性运动，进而量测到关节精确的力和位移关系，同时光学全场应变测量仪则可测量关节运动过程中关节及韧带表面的应变及伸长量的变化。因此，机械臂关节功能测试系统可以精确测量关节的运动学及动力学相关参数，这将有助于我们了解关节的活动度及稳定度，以及功能性活动下的表面应变分布。

Relying on Shanghai Jiaotong University and Shanghai Ninth People's Hospital, we have built an in vitro experimental platform for robotic arm joint function testing, including a six-axis robotic arm, force gauge and optical full-field strain gauge. Combined with the above-mentioned experimental equipment, a set of six-degree-of-freedom manipulator joint function test system was developed by self-integration interface, which realizes the position/force hybrid control of the isolated joint. Based on the above-mentioned position/strength hybrid control theory, the robot arm test system simulates clinical experiments and functional movement, and then measures the precise force and displacement relationship of the joint. At the same time, the optical full-field strain gauge can measure the joint movement process Changes in strain and elongation on the surface of joints and ligaments. Therefore, the robotic arm joint function test system can accurately measure the kinematics and dynamics related parameters of the joint, which will help us understand the degree of motion and stability of the joint, and the surface strain distribution under functional activities.

髋关节的形态学研究

Morphological study of hip joint

髋关节发育不良（developmental dysplasia of the hip, DDH）是指髋关节发育过程中出现的一系列结构畸形，包括股骨头和髋臼的发育不良、髋关节半脱位及脱位三种情况。随着DDH病情的发展，患者会出现步态异常、肌力下降、下肢不等长等临床表现，通过对术前术后的影像学参数分析，将有助于医生做出正确的术前规划，从而提高手术的效果。本研究中，我们从上海九院收集了一批DDH患者及正常人的CT影像，结合临床的实际问题，设计了相关研究方案，完成了一系列的研究发表，这些研究已经被发表在了COA、ORS等骨科相关的学术会议。

Developmental dysplasia of the hip (DDH) refers to a series of structural deformities that occur during the development of the hip joint, including dysplasia of the femoral head and acetabulum, subluxation and dislocation of the hip joint. With the development of DDH, patients will have clinical manifestations such as abnormal gait, decreased muscle strength, and unequal length of the lower limbs. The analysis of preoperative and postoperative imaging parameters will help doctors make correct preoperative planning., Thereby improving the effect of surgery. In this study, we collected a batch of CT images of DDH patients and normal people from Shanghai Ninth Hospital, combined with actual clinical problems, designed relevant research plans, and completed a series of research publications. These studies have been published in COA, ORS and other academic conferences related to orthopedics.

动作分析

Motion analysis

Vicon红外三维运动捕捉分析系统利用红外高速摄像机捕捉贴在人体表面的标记点，通过追踪这些皮肤标记点的运动，实现人体运动的追踪。骨骼作为人的支撑、运动系统，相干疾病的发生往往将直接反映到运动中来，因此运动捕捉和分析对骨科生物力学来说恰如其分。本实验室借助于该系统已经自主开发了步态分析、下肢力线分析、静态平衡分析等定制化相关程序服务于临床骨科，展示出了充分的生命力。

The Vicon infrared 3D motion capture and analysis system uses an infrared high-speed camera to capture the marking points attached to the surface of the human body. By tracking the movement of these skin marking points, the human body movement is tracked. The bones are the support and movement system of people, and the occurrence of related diseases will often be directly reflected in sports. Therefore, motion capture and analysis are appropriate for orthopedics biomechanics. With the help of this system, our laboratory has independently developed customized related programs such as gait analysis, lower limb force line analysis, static balance analysis, etc. to serve the clinical orthopedics department, showing full vitality.

辅助外科手术的自动二维/三维图像快速空间配准系统

Automatic two-dimensional/three-dimensional image rapid spatial registration system assisting surgery

本项目采用软硬㇐体，提高运算能力。通过开发自动化的配准技术，克服临床病患的复杂性和多样性，完成人体生理特征从术前3D体数据模型，向术中人体的实时2D投影图像配准，确保配准精度高于业界所有手术导航产品。借籍GPU并行运算性能的提升，采用以空间换时间的策略，完成配准算法的并行运算，在秒计时间内完成迭代，提高临床手术的可用性。 随着并行运算机的性能不断提升，和影像设备的改良，本系统将能够提供更精准的匹配，和更快速的运算，在临床诊疗必将有广泛而深刻的应用。

This project adopts soft and hard body to improve computing ability. Through the development of automated registration technology, to overcome the complexity and diversity of clinical patients, complete the registration of human physiological characteristics from the preoperative 3D volume data model to the real-time 2D projection image of the human body during the operation, ensuring that the registration accuracy is higher than the industry All surgical navigation products. With the use of GPU to improve the performance of parallel computing, the strategy of changing space for time is adopted to complete the parallel computing of the registration algorithm, complete the iteration in seconds, and improve the availability of clinical surgery. With the continuous improvement of the performance of parallel computing machines and the improvement of imaging equipment, this system will be able to provide more accurate matching and faster calculations, which will surely have extensive and profound applications in clinical diagnosis and treatment.

基于动态MRI的Slice-to-Volume影像配准

Slice-to-Volume image registration based on dynamic MRI

成像时间是MRI的最大技术难题，当前常规的3.0T MRI机器难以实现高分辨率的动态3D成像，因此我们通过动态2D影像，结合静态扫描得到的3D模型，通过slice-to-volume配准将2D动态影像与3D骨骼模型匹配，得到MRI下的精确关节运动追踪。相比于双平面动态X光追踪技术，MRI具有无辐射、能够成像软组织之优势。

The imaging time is the biggest technical problem of MRI. The current conventional 3.0T MRI machine is difficult to achieve high-resolution dynamic 3D imaging. Therefore, we use dynamic 2D images, combined with the 3D model obtained by static scanning, and use slice-to-volume registration to register the 2D The dynamic image is matched with the 3D skeleton model to obtain precise joint motion tracking under MRI. Compared with dual-plane dynamic X-ray tracking technology, MRI has the advantages of non-radiation and capable of imaging soft tissues.