中国组织工程研究

中国组织工程研究 ›› 2022, Vol. 26 ›› Issue (12): 1922-1926.doi: 10.12307/2022.517

• 骨与关节图像与影像 bone and joint imaging • 上一篇    下一篇

三维图像配准及坐标变换膝关节运动分析在机构学中的应用

王建平1，张晓辉1，余进伟2，魏绍亮1，张新民1，许幸新1，曲海军1   

  1. 1河南理工大学机械与动力工程学院，河南省焦作市   454003；2河南理工大学第一附属医院骨科，河南省焦作市   454003
  • 收稿日期:2021-07-21 修回日期:2021-07-22 接受日期:2021-09-18 出版日期:2022-04-28 发布日期:2021-12-15
  • 通讯作者: 曲海军，博士，讲师，河南理工大学机械与动力工程学院，河南省焦作市 454003
  • 作者简介:王建平，男，1969年生，山西省晋城市人，2010年上海交通大学毕业，博士，副教授，主要从事生物力学CAD/CAE方面的研究。
  • 基金资助:
    国家自然科学基金项目“高屈曲人工膝关节的高屈曲稳定性机制研究”(31370999)，项目负责人：王建平；河南省高等教育教学改革研究项目“工程教育专业认证视角下的工科专业非技术能力培养研究与实践”(2019SJGLX056)，项目负责人：张新民；河南省高等教育教学改革研究项目(2012SJGLX127)，项目参与人：张晓辉；河南省高等教育教学改革研究项目“研究生教育”成果(2019SJGLX017Y)，项目参与人：王建平；2021年度河南理工大学课程思政样板课程，项目负责人：许幸新

Application of knee joint motion analysis in machanism based on three-dimensional image registration and coordinate transformation

Wang Jianping1, Zhang Xiaohui1, Yu Jinwei2, Wei Shaoliang1, Zhang Xinmin1, Xu Xingxin1, Qu Haijun1   

  1. 1School of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo 454003, Henan Province, China; 2Department of Orthopedics, the First Affiliated Hospital of Henan Polytechnic University, Jiaozuo 454003, Henan Province, China
  • Received:2021-07-21 Revised:2021-07-22 Accepted:2021-09-18 Online:2022-04-28 Published:2021-12-15
  • Contact: Qu Haijun, PhD, Lecturer, School of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo 454003, Henan Province, China
  • About author:Wang Jianping, PhD, Associate professor, School of Mechanical and Power Engineering, Henan Polytechnic University, Jiaozuo 454003, Henan Province, China
  • Supported by:
    the National Natural Science Foundation of China, No. 31370999(to WJP); Higher Education Teaching Reform Research Project of Henan Province, No. 2019SJGLX056(to ZXM); Higher Education Teaching Reform Research Project of Henan Province, No. 2012SJGLX127(to ZXH); Higher Education Teaching Reform Research Project of Henan Province, No. 2019SJGLX017Y(to WJP); 2021 Ideological and Political Model Course of Henan Polytechnic University(to XXX)

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摘要：

文题释义：
膝关节运动分析：膝关节运动一共包括6个自由度，其中3个旋转自由度：屈曲伸展、内收外展、内外旋，3个移动自由度：上下平移、内外平移、前后平移。膝关节的运动状态较为复杂，其运动数据的精确测量有很重要的研究价值和现实意义，其测量精度对膝关节的生物力学特性研究及膝关节假体的设计与手术实施有着决定性的影响。
医学图像处理：是指利用计算机处理技术对二维医学切片图像进行分析和处理，实现对人体不同组织的分割、提取及重建，可以辅助医生对病变部位进行定量分析，以提高诊断的可靠性。医学图像处理在医学研究及关节置换术中同样起很重要的作用。医学图像处理主要表现在病变检测、图像分割、图像配准与融合等几个方面。

背景：对膝关节各组织的运动过程、运动数据、运动机制的研究，有助于根据其运动特性及生物力学特征，设计、改进膝关节假体，改善膝关节运动功能，以及避免运动损伤、提高运动成绩和延长运动寿命。膝关节的运动数据是研究其力学特性的基础。
目的：根据膝关节的三维几何模型，求解膝关节在不同屈曲角度时胫股关节、髌股关节的运动数据，为机器人等空间复杂机构的运动分析、人工假体的力学分析及其设计提供新的研究途径和参考方法。
方法：首先，采用CT数据得到人体静态下屈曲0-120°范围膝关节典型相位的三维点云；其次，提出将三维图像配准和坐标变换相结合的方法以精确分析膝关节的相对运动。将不同屈曲位的膝关节各部分如股骨、胫骨、髌骨三维图像及其坐标放在同一坐标系下，分别建立膝关节各骨组织的正交坐标系，通过绕运动坐标系的Z-Y-X欧拉角方法进行坐标变换来研究膝关节的运动。
结果与结论：①分别得到了膝关节屈曲0-120°范围内的胫股关节、髌股关节在5个自由度下的运动数据，为膝关节的力学特性及假体设计的研究提供支撑，适用于机构学中复杂运动形态运动副的运动分析；②该研究所提出的方法基于多静态离散医学影像进行人体运动的测量和分析，既能够利用既有的CT扫描设备和现有软件，设备成本低、方法简单易学；同时获得较高的测量精度，其精度误差小于1 mm。

https://orcid.org/0000-0003-3465-9615 (王建平) 

中国组织工程研究杂志出版内容重点：人工关节；骨植入物；脊柱；骨折；内固定；数字化骨科；组织工程

关键词: 运动分析, 机构学, 三维图像处理, 图像配准, 坐标变换, 膝关节, 运动测量, 生物力学

Abstract: BACKGROUND: Research on movement process, data, and mechanism of the knee joint is helpful to design and modify a knee joint prosthesis, and improve the knee joint movement function according to its movement characteristics and biomechanical characteristics, so as to avoid sports injuries, improve sports performance and prolong sports life. The movement data of the knee joint are the basis for studying its mechanical properties.  
OBJECTIVE: According to the three-dimensional geometric model of the knee joint, to determine the movement data of the tibiofemoral joint and the patellofemoral joint at different flexion angles, thereby providing a new approach and reference for the kinematic analysis of complex spatial mechanisms such as robots and for the mechanical analysis and design of artificial prostheses.
METHODS: First, the three-dimensional point cloud of the knee joint at 0°-120° static knee flexion was captured using computed tomography. Secondly, the combination of three-dimensional image registration and coordinate transformation was proposed to accurately analyze the relative motion of the knee joint. Three-dimensional images of the knee joint (including the femur, tibia, patella) in different flexion positions and their coordinates were presented in the same coordinate system. The orthogonal coordinate system of each bone tissue of the knee joint was then established. The movement of the knee joint was studied based on coordinate transformation using the Z-Y-X Euler angle method around the motion coordinate system.  
RESULTS AND CONCLUSION: (1)The motion data of the tibiofemoral and patellofemoral joints with 0°-120° of knee flexion were obtained in the five degrees of freedom, which offers a support for studying the mechanical properties of the knee joint and prosthetic design. This method could be used for the motion analysis of kinematics pairs under complex kinematics in mechanism. (2)To conclude, this method is proposed based on multi-static discrete medical images for kinematic measurement and analysis in human body. It can be conducted based on existing computed tomography scanning equipment and existing software, which has low cost and is easily understood. Moreover, this method is characterized by high measurement accuracy and the accuracy error is less than 1 mm.

Key words: motion analysis, mechanism, three-dimensional image processing, image registration, coordinate transformation, knee joint, motion measurement, biomechanics

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