Femur Surgical Registration with External and Internal Canal 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 decreasing 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 increased accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional external bone registration methods are used, then registration time is reduced, but registration accuracy deteriorates
Solution Approach 1:
The registration process is segmented into multiple phases: initial external bone landmark registration for rapid alignment, followed by internal canal registration for precision refinement. This segmentation allows the system to achieve both speed (through external landmarks) and accuracy (through internal canal registration) by dividing the registration task into distinct stages with different precision requirements.
Solution Approach 2:
External bone landmark registration is performed as a preliminary action to establish an initial coordinate system alignment before internal canal registration. This preliminary registration provides a starting point that reduces the complexity and time required for subsequent internal canal registration, enabling faster overall registration while maintaining high accuracy.
2Measurement precision
If only external bone registration data is used, then registration process is simplified, but registration accuracy deteriorates
Solution Approach 1:
The system merges external bone registration data and internal canal registration data into a unified coordinate system transformation process. By combining these two data sources, the system achieves higher registration accuracy than either method alone could provide, while the integrated approach manages complexity through a cohesive computational framework that processes both data types together.
Solution Approach 2:
The computational registration system acts as an intermediary that processes both external and internal registration data through mathematical transformations. This intermediary processing layer integrates multiple data sources and converts them into a unified coordinate system, managing the complexity of combining different registration methods while maximizing accuracy.
3Measurement precision
If comprehensive bone registration data is collected, then registration accuracy is improved, but data processing complexity increases
Solution Approach 1:
Registration data is segmented into external bone landmark data and internal canal data, with separate processing pipelines for each type. This segmentation allows the system to handle comprehensive data without overwhelming complexity, as each data type can be processed using optimized algorithms appropriate to its characteristics before being integrated into the final coordinate transformation.
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.