Detachable Dynamic Reference Base for Intraoperative Registration

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Solution Overview

Problem

Existing position recognition systems for robot-assisted surgeries face challenges in efficiently and accurately determining the position and orientation of tracking markers and registration fixtures, particularly in sterile and non-sterile environments, leading to potential misregistration and the need for repetitive verifications.

Innovation Solution

A surgical robot system with a detachable dynamic reference base (DRB) and kinematic mount system that allows for precise reattachment of tracking markers, ensuring consistent positioning and orientation, enabling neuronavigation and robotic trajectory guidance without suspending surgery.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If traditional position recognition systems use fixed registration fixtures with tracking markers, then initial registration can be achieved, but any detachment or repositioning causes misregistration requiring repetitive verifications and interruptions

Engineering Contradiction:

Improveregistration integrityVSAvoidsurgical interruption time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The system transitions from fixed, static registration fixtures to a dynamic reference base that can be detached and reattached while maintaining registration integrity. The DRB incorporates dynamic positioning capabilities with sensors and actuators that enable real-time tracking and automatic repositioning, allowing the registration system to adapt to changes during surgery without losing accuracy or requiring interruptions.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system implements continuous feedback loops where sensors monitor the position and orientation of the DRB and tracking markers in real-time. This feedback is processed by control algorithms that automatically adjust and correct any deviations from the registered positions, ensuring registration integrity is maintained throughout the surgical procedure without requiring manual verification or interruption.

Inventive Principle:

Principle #23Feedback

2Adaptability or versatility

If tracking markers and registration fixtures are detached for repositioning, then adaptability to surgical needs is improved, but positioning precision deteriorates due to misregistration

Engineering Contradiction:

Improverepositioning capabilityVSAvoidpositioning accuracy

Core Design Contradiction:

Adaptability or versatilityVSManufacturing precision

Solution Approach 1:

The system replaces traditional mechanical positioning and alignment mechanisms with sensor-based detection and actuator-driven positioning. Instead of relying on precise manual mechanical alignment when repositioning, the system uses sensors to detect the current position of tracking markers and actuators to automatically adjust the DRB to the correct registered position, maintaining precision while enabling adaptability.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The system introduces intermediate computational and control layers between the physical DRB components and the registration system. Software algorithms serve as intermediaries that process sensor data, calculate required adjustments, and coordinate actuator movements, enabling accurate repositioning without direct mechanical coupling or manual alignment procedures.

Inventive Principle:

Principle #24Intermediary (Mediator)

3Measurement precision

If repetitive registration verifications are performed to ensure accuracy, then measurement precision is maintained, but productivity decreases due to surgical interruptions

Engineering Contradiction:

Improvetracking accuracyVSAvoidsurgical efficiency

Core Design Contradiction:

Measurement precisionVSProductivity

Solution Approach 1:

The system enables continuous tracking and registration verification without interrupting the surgical workflow. Sensors continuously monitor tracking marker positions and DRB orientation in real-time, providing ongoing verification of registration accuracy while the surgery proceeds uninterrupted. This eliminates the need for periodic manual verification steps that would pause surgical activities.

Inventive Principle:

Principle #20Continuity of useful action

Solution Approach 2:

The system performs self-verification of registration accuracy through automated sensor monitoring and computational checking of tracking data. The registration system continuously self-validates its own accuracy by monitoring the consistency and quality of tracking signals, eliminating the need for external manual verification procedures that would interrupt surgical productivity.

Inventive Principle:

Principle #25Self-service

Data Source

PatentEP3847989B1System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related devices

Publication Date: 2025.10.08 GLOBUS MEDICAL INC

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AI summary

A surgical robot system includes a surgical robot, a robot arm connected to such surgical robot, and an end-effector connected to the robot arm. A registration fixture is used in conjunction with various registration systems in the surgical robot system. Such registration systems likewise include a detachable base in the form of a detachable dynamic reference base, along with an associated mount, the dynamic reference base and mount having certain features which permit the dynamic reference base to be selectively attached, detached, and reattached at different phases of an operation, whether pre-operative or intra-operative, and such successive attachments are done without the dynamic reference base, and tracking markers associated therewith, losing registration. Related methods allow for the more efficient and effective performance of operations by virtue of the dynamic reference base maintaining its registration during attachments and reattachments.