Non-invasive prosthesis pose visualization in joint replacement surgery based on multi-sensor fusion

Abstract

With the aging population, demand for artificial joint replacement is growing. In total hip arthroplasty (THA), implanting the acetabular cup into the safe zone (inclination: 40° ± 10°, anteversion: 15° ± 10°) is critical for success, but existing technologies suffer from low accuracy or radiation invasiveness. To address this, a non-invasive prosthesis pose visualization method based on multi-sensor fusion is proposed, aiming for real-time, radiation-free and high-precision monitoring. A complete hardware-software system is constructed, consisting of an inertial measurement unit (IMU), a microprocessor, a bluetooth transceiver and a computer. An extended Kalman filter (EKF) is employed for IMU data fusion, and a non-invasive registration method is proposed to establish the coordinate transformation, enabling calculation and visualization of the cup's inclination and anteversion. Experiments showed that the root mean square error (RMSE) of self-pose estimation was within 0.423°, the RMSE of the inclination and anteversion were 0.278° and 0.296° respectively, and the average error vector magnitude was 0.373°, all within the safe zone tolerance, rendering the proposed method promising as an effective surgical tool.

Keywords

total hip arthroplasty (THA) / pose visualization / inertial measurement unit (IMU) / data fusion / non-invasive registration

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