Fiducial-Based Coordinate Registration for Surgical Navigation
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Solution Overview
Problem
Current tracking and navigation systems in surgical procedures require time-consuming registration of instrument positions between different coordinate systems, such as robotic and image spaces, which can hinder efficient navigation during procedures.
Innovation Solution
The use of fiducial objects imaged with an imaging system to register coordinate systems, allowing for the transformation of coordinates between robotic, navigation, and image spaces, enabling precise tracking and navigation of instruments relative to a patient space.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual registration of coordinate systems is performed by identifying points in subject space and correlating them with image space, then registration accuracy can be achieved, but procedural time is significantly increased
Solution Approach 1:
A fiducial object with known geometric features serves as an intermediary between the robotic system and imaging system. The fiducial object is imaged by the imaging system and its features are extracted to establish coordinate transformation, eliminating the need for manual point identification while maintaining registration accuracy
Solution Approach 2:
The fiducial object is positioned and imaged before the surgical procedure begins, and its coordinate system is pre-established. This preliminary setup creates a reference framework that enables automatic coordinate transformation throughout the procedure, avoiding time-consuming manual registration during surgery
2Adaptability or versatility
If multiple coordinate systems (robotic, navigation, image spaces) are integrated, then comprehensive navigation capability is improved, but system complexity increases
Solution Approach 1:
The fiducial object serves multiple functions: it acts as a reference for the robotic system, provides imaging features for coordinate extraction, and enables transformation between different coordinate systems. This single multi-functional element simplifies the integration of robotic, navigation, and imaging systems
3Measurement precision
If fiducial objects with discrete features are used for registration, then coordinate transformation accuracy is improved, but the complexity of fiducial object design and manufacturing increases
Solution Approach 1:
The fiducial object is designed with features that are homogeneous in their geometric properties (spheres, cylinders, or cones with uniform dimensions). This uniformity simplifies manufacturing while ensuring that all features can be reliably detected and measured by the imaging system for accurate coordinate extraction
Data Source
AI summary
Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. The guide and system may include various manipulable or movable members, such as robotic systems, and may be registered to selected coordinate systems.