臺灣博碩士論文加值系統

隨著臺灣已邁入高齡化社會，使得因髖關節退化而需施行全人工髖關節置換手術的人也逐漸升高。該手術主要是將人工金屬髖臼元件替代人體受損股骨或是軟骨組織，因此髖臼元件的定位方向決定了術後髖關節移動範圍及疼痛感。目前普遍使用的定位方式有CT電腦斷層掃描、X-ray、紅外光學系統…等以量取病患骨盆資訊與髖臼元件之間的相對方位。本論文提出藉由慣性感測裝置與磁力計並以兩點式定位之類導航手術來施行髖臼元件之方向定位。文中利用兩組由慣性感測裝置與磁力計結合之感測模組，將一組定義為參考基準座標，固定於人體背部之骶骨處，骶骨與骨盆同屬一部位，且為皮膚與骨頭之最短距離處；另一組定義為相對轉動座標系統，設計具有3自由度球窩關節之髖臼元件並與其結合，再透過藍芽傳輸與參考基準模組溝通相對轉動座標系統以計算相對轉動，如此可量測髖臼元件相對骨盆方位之前傾角與外展角。在感測模組的轉動角度計算中，本文提出混合卡爾曼-互補濾波器的資訊融合演算法以提升精確度，降低陀螺儀的偏差值所造成的累積誤差，以及磁力計因磁場干擾的不穩定性。最後經假體驗證，本論文結合慣性感測裝置與磁力計之類導航操作，在全人工髖關節置換手術的應用上具有低成本、高精度、低感染與操作簡單之優點。

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.

摘要 i
Abstract ii
目錄 iv
圖目錄 vii
表目錄 xiv
第一章 緒論 1
1.1 研究背景 1
1.2 文獻回顧 2
1.3 研究目的 13
1.4 研究方法與步驟 14
1.5 論文架構 15
第二章 九軸運動感測器原理 16
2.1 運動感測器 16
2.1.1 加速度計 17
2.1.2 陀螺儀 18
2.1.3 磁力計 20
2.2 感測器傳輸協定 21
2.2.1 I2C通訊協定 21
2.2.2 UART協定 23
2.3 市售運動感測器 25
2.3.1 六軸慣性感測元件 MPU6050 25
2.3.2 磁力計 HMC5883L 28
2.3.3 九軸感測器電路設計 29
第三章 感測器校正與訊號分析 34
3.1 感測器校正 34
3.1.1 加速度計及陀螺儀靜止校正 34
3.1.2 磁力計校正 35
3.2 訊號分析 38
3.2.1 傅立葉轉換 38
3.2.2 快速傅立葉轉換 39
第四章 感測器融合 43
4.1 尤拉角度計算 43
4.1.1 九軸運動感測器與尤拉角度計算 45
4.1.2 融合加速度計之磁力計傾斜補償 48
4.1.3 訊號向量強度 49
4.2 濾波器設計 51
4.2.1 互補濾波器 51
4.2.2 卡爾曼濾波器 56
4.2.3 混合卡爾曼-互補濾波器 59
第五章 全人工髖關節置換術之類導航應用 60
5.1 雲端資料庫建立 60
5.2 手機App設計 62
5.3 量測系統架構 64
5.4 類導航應用 69
第六章 結果與討論 72
6.1 移動角度之穩態量測 74
6.2 轉動角度之動態量測 80
6.3 手部顫抖分析與SVM測試 96
6.4 肩關節復健角度分析 102
6.5 THR之類導航結果 105
第七章 結論與未來展望 113
參考文獻 114

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