Anatomical Data Registration Using Robotic Vision Probe Seeding
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Solution Overview
Problem
Traditional instrument tracking and referencing systems for minimally invasive medical procedures require patient pads during pre-operative and operative imaging, causing clinical disturbances and disrupting the workflow.
Innovation Solution
A method and system for registering anatomical data using a robotic manipulator arm with a vision probe, extracting kinematic and setup information to generate a registration between model points, allowing for minimal clinical disturbance during image-guided procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional instrument tracking and referencing systems use patient pads during pre-operative and operative imaging, then registration accuracy is improved, but clinical workflow is disrupted and clinical environment is disturbed
Solution Approach 1:
The patent removes the patient pad component from the registration system entirely. Instead of using patient pads placed on the patient's body during imaging, the system uses a robotic manipulator arm with sensors that track instruments directly through natural orifices or incisions, eliminating the need for pads that disrupt clinical workflow while maintaining registration accuracy through direct instrument tracking
Solution Approach 2:
The patent introduces a robotic manipulator arm as an intermediary device between the imaging system and the patient anatomy. This robotic arm equipped with sensors serves as a mediator that enables accurate instrument tracking and registration without requiring patient pads, thereby resolving the conflict between measurement precision and ease of operation by providing a non-intrusive tracking solution
2Measurement precision
If traditional instrument tracking systems are implemented, then registration between model points and surface points is achieved, but device complexity and clinical disturbance increase
Solution Approach 1:
The robotic manipulator arm serves multiple functions: it positions the vision probe for imaging, tracks instrument locations through its integrated sensors, and provides the coordinate transformation data for registration. This multi-functional approach reduces overall system complexity compared to separate dedicated tracking systems while maintaining registration accuracy
Solution Approach 2:
The patent combines the imaging function (vision probe) and tracking function (sensors) into a single integrated robotic manipulator arm. This merging of functions eliminates the need for separate patient pads and tracking devices, reducing device complexity while achieving accurate registration through the unified system
Data Source
AI summary
A method of registering sets of anatomical data for use during a medical procedure is provided herein. The method may include accessing a first set of model points of a patient anatomy of interest and intra-operatively acquiring a second set of model points by visualizing a portion of the anatomical surface in the patient with a vision probe. The method may further include extracting system information, including kinematic information from a robotic arm of a medical system and/or setup information, and generating an initial seed transformation based on the extracted system information. Thereafter, the method may include applying the initial seed transformation to the first set of model points and generating a first registration between the first set of model points and the second set of model points to permit model and actual information to be viewed and used together by an operator.