Backscatter Bone Tracking in Robotized Surgery
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Solution Overview
Problem
Optical tracking systems in computer-assisted surgery require a line of sight between image acquisition devices and objects, leading to interruptions and potential need for human intervention in automated robotic surgery, especially during orthopedic procedures like Total Knee Replacement.
Innovation Solution
A system utilizing backscatter images from a tracking device to generate three-dimensional geometry of bones and surgical tools, allowing for continuous position and orientation tracking and automated adjustment of the tracking device's position and orientation to maintain visibility, even when the line of sight is disrupted, using a processing unit and computer-readable memory with executable instructions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optical tracking systems are used to track bones and surgical tools, then position and orientation information can be obtained, but the line of sight requirement causes tracking interruptions and may require human intervention
Solution Approach 1:
The patent introduces an automated robotized system as an intermediary between the optical tracking system and the surgical environment. This robotized system automatically adjusts the position and orientation of optical elements and tracking devices to maintain line of sight, eliminating the need for human intervention when tracking is disrupted while preserving measurement precision
Solution Approach 2:
The system dynamically adjusts the position and orientation of optical elements and tracking devices in real-time based on the surgical environment. The robotized system continuously modifies configurations to maintain optimal line of sight conditions, ensuring both measurement precision and tracking continuity without requiring manual intervention
2Manufacturing precision
If automated robotic surgery is used, then surgical precision is improved, but tracking interruptions require human intervention which reduces automation
Solution Approach 1:
The optical tracking system is configured to self-correct tracking disruptions through automated robotized adjustment. When line of sight is blocked or suboptimal, the system automatically repositions optical elements and tracking devices to restore tracking, enabling the automated surgical system to maintain precision without human intervention and preserving full automation continuity
3Measurement precision
If optical elements are positioned to maintain line of sight, then tracking accuracy is improved, but the system complexity increases due to automated adjustment mechanisms
Solution Approach 1:
The robotized system serves multiple functions: it performs surgical maneuvers, adjusts optical elements, and maintains tracking accuracy simultaneously. By consolidating these functions into a single automated platform, the system achieves high tracking accuracy while managing complexity through multi-functionality rather than adding separate dedicated systems
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables continuous and accurate tracking of bones and surgical tools in robotized computer-assisted surgery, reducing the need for human intervention and ensuring precise surgical maneuvers by automatically adjusting the tracking device's position and orientation.
Implementation Method 1
obtaining backscatter images of the at least one bone from a backscatter imaging device
Data Source
AI summary
A system for tracking at least one bone in robotized computer-assisted surgery, comprises a processing unit and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for: obtaining backscatter images of the at least one bone from a tracking device in a coordinate system; generating a three-dimensional geometry of a surface of the at least one bone from the backscatter images, the three-dimensional geometry of the surface being in the coordinate system; determining a position and orientation of the at least one bone in the coordinate system by matching the three-dimensional geometry of the surface of the at least one bone to a three-dimensional model of the bone; controlling an automated robotized variation of at least one of a position and orientation of the tracking device as a function of a processing of the backscatter images; and continuously outputting the position and orientation of the at least one bone in the coordinate system to a robot driver controlling a robot arm supporting a surgical tool in the coordinate system for altering the bone.