Dual-Marker Registration Fixture for Neuronavigation Robotic Guidance
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Solution Overview
Problem
Existing position recognition systems for robot-assisted surgeries lack efficiency and accuracy in providing neuronavigation registration and robotic trajectory guidance, particularly in surgical environments where precise tracking of surgical instruments is required.
Innovation Solution
A system that determines the position and orientation of a registration fixture relative to an anatomical feature and a surgical robot using fiducial markers and tracking markers, enabling precise control of the robot arm based on these determinations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If position recognition systems use passive and/or active sensors or markers for registering and tracking positions, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent combines multiple tracking markers (fiducial markers and tracking markers) into a unified registration fixture that serves dual purposes: establishing initial anatomical registration and enabling continuous robotic arm tracking. This merging reduces the need for separate systems while maintaining high measurement precision through coordinated use of both marker types.
Solution Approach 2:
The registration fixture is designed to perform multiple functions: it holds fiducial markers for initial anatomical feature registration, contains tracking markers for continuous position tracking, and provides a stable reference frame throughout the surgical procedure. This multi-functionality reduces overall system complexity by eliminating the need for separate registration and tracking devices.
2Measurement precision
If multiple fiducial markers and tracking markers are used for accurate registration, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent integrates fiducial markers and tracking markers into a single registration fixture structure, allowing both marker types to be tracked simultaneously by the same camera system. This unified approach simplifies the overall marker system while maintaining the registration accuracy benefits of using multiple markers for both anatomical alignment and continuous tracking.
3Adaptability or versatility
If neuronavigation registration is established intraoperatively, then adaptability is improved, but loss of time increases due to potential surgery suspension
Solution Approach 1:
The registration fixture with both fiducial and tracking markers is prepared and positioned on the patient before the surgical procedure begins. This preliminary setup enables immediate intraoperative registration without requiring surgery suspension, as the anatomical features and tracking markers are already in place for direct correlation with preoperative imaging data.
Solution Approach 2:
The system maintains continuous tracking of the registration fixture throughout the surgical procedure, allowing real-time updates of the robotic arm position relative to anatomical features without interrupting the surgical workflow. The tracking markers enable uninterrupted registration maintenance, eliminating the need to suspend surgery for re-registration.
Data Source
AI summary
A position is determined for each fiducial marker of a plurality of fiducial markers in an image volume. Based on the determined positions, a position and orientation of the registration fixture with respect to the anatomical feature is determined. A position is determined for each tracked marker of a first plurality of tracked markers on the registration fixture and a second plurality of tracked markers on the robot arm in a tracking data frame. Based on the determined positions of tracked markers, a position and orientation of the registration fixture and the robot arm of a surgical robot with respect to the tracking space are determined.