Dynamic Reference Frame Registration for Surgical Navigation
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Solution Overview
Problem
Current surgical navigation systems require invasive methods for fiducial marker placement, which can be cumbersome and limit the accuracy of instrument positioning within the body, especially when soft tissue obstructs visualization.
Innovation Solution
A system that uses dynamic reference frames attached to the patient in different manners to register image space to physical space, allowing for non-invasive initial registration and more precise invasive registration, utilizing tracking devices and image data correlation to navigate instruments accurately without the need for traditional fiducial markers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If fiducial markers are fixed directly to bone through skin for maximum reliability, then registration accuracy is improved, but invasiveness increases
Solution Approach 1:
The reference frame system is segmented into multiple components: a first dynamic reference frame attached non-invasively to the patient's body surface, and a second dynamic reference frame attached invasively to the bone. This segmentation allows the system to achieve high registration accuracy through the invasive bone-attached component while minimizing overall invasiveness by using non-invasive attachment for initial positioning and tracking.
Solution Approach 2:
The first dynamic reference frame is attached non-invasively before the invasive procedure to establish initial registration and enable preliminary navigation. This preliminary action reduces the need for extensive invasive marker placement, as the initial non-invasive frame provides sufficient guidance for planning and reduces the scope of subsequent invasive procedures.
2Measurement precision
If traditional fiducial markers are used for registration, then registration can be achieved, but the procedure becomes cumbersome and less efficient
Solution Approach 1:
The system uses dynamic reference frames that can move with the patient's anatomy during the procedure, rather than static fiducial markers. The dynamic frames are attached to movable structures (body surface and bone) and maintain their relative positions, enabling continuous accurate tracking without requiring repeated registration or adjustment, thus improving procedure efficiency.
Solution Approach 2:
The dynamic reference frames serve as intermediaries between the imaging system and the patient's anatomy. These frames provide a stable, trackable interface that mediates the registration process, allowing the navigation system to accurately locate instruments relative to anatomical structures without requiring direct attachment of markers to critical bones or tissues, thereby streamlining the procedure.
3Measurement precision
If fiducial markers are placed invasively for accurate registration, then registration accuracy is improved, but the complexity of the procedure increases
Solution Approach 1:
The reference frame system is segmented into multiple components: a first dynamic reference frame attached non-invasively to the patient's body surface, and a second dynamic reference frame attached invasively to the bone. This segmentation allows the system to achieve high registration accuracy through the invasive bone-attached component while minimizing overall invasiveness by using non-invasive attachment for initial positioning and tracking.
Solution Approach 2:
The dynamic reference frames serve multiple functions: they provide registration landmarks, enable continuous tracking of anatomical movement, and guide instrument positioning. This multi-functionality reduces the need for separate fiducial marker systems and simplifies the overall procedure by consolidating multiple functions into a single integrated system.
Data Source
AI summary
A system can be used to navigate or guide an instrument or device into an anatomy of a patient. The navigation can occur with the use of image data acquired of the patient. The image data can be registered to the patient space for navigation. Also, one or more coils can be used for tracking or localization.