Dynamic Reference Base for Neuronavigation and Robotic Guidance
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Solution Overview
Problem
Existing position recognition systems for robot-assisted surgeries face challenges in accurately determining the position of surgical instruments without using fiducial arrays or CT scanners, necessitating a system for efficient and precise neuronavigation registration and robotic trajectory guidance.
Innovation Solution
A method involving a stereotactic frame base, dynamic reference base, and frame reference array for registering medical images, allowing simultaneous tracking and registration of surgical instruments, enabling precise robotic trajectory guidance without relying on fiducial arrays or CT scanners.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If fiducial arrays and CT scanners are used for neuronavigation registration, then measurement precision is improved, but device complexity and loss of time increase
Solution Approach 1:
The patent extracts the essential registration function from the complex fiducial array and CT scanner system, implementing a simplified marker-based tracking system that achieves comparable precision without requiring heavy imaging infrastructure. The dynamic reference base with markers provides sufficient registration accuracy while eliminating the need for CT scanners and complex fiducial arrays.
Solution Approach 2:
The patent creates a virtual copy of the anatomical space through image registration with the dynamic reference base, allowing the system to track and navigate without physical fiducial markers embedded in the patient. The registered medical images serve as a virtual model that guides the surgical instrument through the actual anatomical space.
2Measurement precision
If fiducial arrays and CT scanners are used for neuronavigation registration, then measurement precision is improved, but loss of time increases
Solution Approach 1:
The dynamic reference base is attached to the stereotactic frame base before image acquisition, and the registration process is performed as part of the initial setup. This preliminary action ensures that the coordinate systems are established beforehand, allowing the surgical procedure to proceed without time-consuming registration steps during the actual surgery.
Solution Approach 2:
The system maintains continuous tracking of the surgical instrument relative to the registered coordinate system throughout the procedure. The dynamic reference base remains in place, providing ongoing positional information without requiring repeated registration operations, thus eliminating time loss during the surgical process.
3Adaptability or versatility
If dynamic reference base with simultaneous tracking is used, then adaptability is improved, but device complexity increases
Solution Approach 1:
The dynamic reference base serves multiple functions: it provides a stable coordinate system for registration, enables simultaneous tracking of multiple instruments, and works with various imaging modalities. This multi-functionality allows the system to adapt to different surgical scenarios and registration methods without requiring separate specialized equipment for each application.
Solution Approach 2:
The dynamic reference base acts as an intermediary between the physical surgical field and the virtual registered images. It provides a common coordinate system that mediates between the actual instrument positions and the planned trajectories in the registered medical images, enabling flexible adaptation to different tracking and registration approaches.
Data Source
AI summary
Embodiments consistent with the present disclosure allow the ring, arc, and linear offset values for a stereotactic frame to be determined for a cranial procedure without requiring a CT scan to be acquired with the fiducial frame attached. Having the ring, arc, and offset values available for a cranial procedure allows the surgeon to revert to traditional stereotactic ring-arc frame guidance as a fallback strategy in case a robot cannot be used. This disclosure also provides an alternate method for registering a ring-arc system to the medical image volume for facilities having no CT scanner or scanner with limited field of view such that the intended fiducial localizer cannot be used.