Dual Registration for Robotic and Surgical Navigation Alignment
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Combining multiple surgical systems for navigation and robotics results in increased registration accuracy errors due to a transformation chain that accumulates errors, affecting clinical outcomes and patient safety.
Innovation Solution
Implementing a dual registration method that independently correlates patient anatomy to both navigation and robotic systems, using separate registration paths to verify and reduce errors, and enabling error averaging.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple surgical systems are combined for navigation and robotics, then functional versatility is improved, but registration accuracy deteriorates due to error accumulation in transformation chains
Solution Approach 1:
The patent divides the registration process into two independent segments: a first registration path for the robotic system and a second registration path for the navigation system. Each path independently correlates patient anatomy to its respective system without sharing transformation data, thereby preventing error accumulation while maintaining functional versatility of both systems
Solution Approach 2:
The patent introduces an intermediary computing device that receives data from both the robotic system and navigation system independently. This intermediary coordinates the two separate registration paths, allowing both systems to operate with their own independent error profiles rather than propagating errors through a shared transformation chain
2Device complexity
If a single transformation chain is used to correlate multiple systems, then device complexity is reduced, but registration accuracy deteriorates due to accumulated errors
Solution Approach 1:
The patent segments the transformation chain into separate registration paths - one for robotic system coordination and another for navigation system coordination. Each path performs its own independent transformations without relying on intermediate transformations from the other system, thereby reducing cumulative error while maintaining manageable system complexity through modular architecture
3Measurement precision
If independent registration paths are implemented for multiple systems, then registration accuracy is improved by reducing error accumulation, but device complexity increases
Solution Approach 1:
The patent implements a universal coordinate system that both the robotic system and navigation system independently correlate to patient anatomy. This multi-functional approach allows each system to maintain its own registration path while both converging on the same patient coordinate space, improving accuracy without requiring completely separate independent systems
Solution Approach 2:
The computing device acts as an intermediary that manages the complexity of multiple registration paths by coordinating data flow between the robotic system, navigation system, and patient coordinate space. This central coordination point handles the increased complexity while allowing the registration paths themselves to remain independent and accurate
Data Source
Figure 1
Figure 2~3
Figure 4~5
AI summary
Systems and methods for generating multiple registrations is provided. An image depicting a portion of a patient's anatomy and a tracking device affixed to an accurate robot may be received. A first registration of a patient coordinate space to a robotic coordinate space may be generated based on the image. A second registration of the patient coordinate space to a navigation coordinate space based at least in part on a position of second markers on the tracking device detected by a navigation system may be generated. The first registration and the second registration may be independent of each other.