Femur Surgical Registration Using External and Canal Bone Data
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Solution Overview
Problem
Intra-operative registration of the pelvis and femur in robotic surgical procedures is challenging, requiring methods that increase accuracy while reducing registration time.
Innovation Solution
A system and method for registering a surgical device with a patient's femur using external and internal bone registration data, involving a computing device that calculates registration transforms based on external and internal bone data to transform surgical plans into an operative coordinate system, incorporating partial and manual bone removal plans for precise implant placement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional single-stage registration methods are used, then the registration process is simpler and faster, but the registration accuracy is insufficient for precise robotic surgical procedures
Solution Approach 1:
The registration process is divided into two distinct stages: a rapid initial registration using external bone landmarks to establish a preliminary coordinate system, followed by a refined registration using internal bone canal data to achieve high-precision alignment. This segmentation allows each stage to optimize for its specific purpose, resolving the contradiction between speed and accuracy.
Solution Approach 2:
The first registration transform is calculated in advance using external bone data before the second transform is computed. This preliminary registration establishes a baseline coordinate system that guides subsequent more time-consuming internal registration procedures, enabling the system to achieve high accuracy without starting from scratch.
2Measurement precision
If only external bone registration data is used, then the registration process is faster and simpler, but the accuracy for internal bone canal alignment is insufficient
Solution Approach 1:
The system merges two different registration approaches by combining external bone landmark registration with internal bone canal registration. The first transform handles external landmarks while the second transform refines alignment using internal canal data, creating a composite registration system that achieves superior accuracy without requiring complete redesign of the registration process.
Solution Approach 2:
The first registration transform acts as an intermediary that bridges the external coordinate system to the internal bone canal coordinate system. This intermediate transformation enables the system to transition from easily obtainable external data to the more precise but complex internal canal alignment, resolving the contradiction between simplicity and accuracy.
3Manufacturing precision
If a single registration transform is used for the entire surgical plan, then the process is more efficient, but the precision for different bone regions (exterior surface and inner canal) is compromised
Solution Approach 1:
Different registration transforms are applied to different regions of the surgical plan: the first transform is used for operations on the exterior bone surface while the second transform is applied to operations on the inner bone canal. This local differentiation ensures that each bone region receives the most appropriate transformation for its specific geometric characteristics, achieving high precision without requiring complete re-planning of the entire surgical procedure.
Solution Approach 2:
The system changes the registration parameters by switching between two different transformation matrices depending on the surgical operation being performed. This parameter change allows the system to optimize precision for each specific bone region while maintaining overall surgical planning efficiency through automated transform selection based on the operation type.
Data Source
AI summary
A system for surgical registration. The system may include at least one computing device in communication with a surgical navigation system and the surgical device. The at least one computing device: a) receiving external bone registration data corresponding to locations on the exterior surface of the femur; b) calculating a first registration transform based on the external bone registration data; c) transforming a first bone removal plan of a surgical plan to the operative coordinate system based on the first registration transform; d) receiving internal bone canal registration data corresponding to at least one of location or orientation data from the inner canal of the femur; e) calculating a second registration transform based on both of the external and internal bone canal bone registration data; and f) transforming a second bone removal plan of the surgical plan to the operative coordinate system based on the second registration transform.