Flat-Tip Probe Registration for Surgical Surface Matching
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Solution Overview
Problem
Conventional surface matching registration in computer-assisted surgeries faces challenges due to the lack of control over the precise contact angle of the probe on anatomical surfaces and the inability to validate mechanical contact between the probe and the surface, leading to reduced accuracy.
Innovation Solution
A surgery assistive system equipped with a tool and manipulator connected to a spatial sensor system and a computer system, which includes a force sensor to detect force and torque, and a user interface to manipulate the kinematic state of the tool, allowing for precise control and validation of the contact angle and mechanical contact during registration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If conventional thin probe is used for surface matching registration, then the surgical invasiveness is reduced, but the probe slips off the intended surface due to lack of contact angle control, resulting in reduced registration accuracy
Solution Approach 1:
The patent changes the geometric parameters of the probe by providing a flat surface at its tip instead of a conventional pointed tip. This flat surface enables controlled contact angle and stable mechanical contact with the anatomical surface, resolving the slipping problem while maintaining minimally invasive characteristics.
Solution Approach 2:
The patent replaces the reliance on surgeon manual skill for maintaining contact angle with an automated mechanical system. The flat-surfaced probe combined with computer-assisted navigation automatically maintains the correct contact angle, eliminating the need for surgeon skill in angle control while improving registration accuracy.
2Device complexity
If conventional surface matching registration is performed without contact validation, then the registration process is simplified, but the mechanical contact between probe and surface cannot be validated, leading to reduced accuracy
Solution Approach 1:
The patent introduces force sensors that provide real-time feedback on the mechanical contact between the probe and anatomical surface. This feedback mechanism validates whether proper contact has been made, allowing the system to confirm accurate registration points while maintaining a relatively simple overall process.
3Measurement precision
If fiducial markers are attached to anatomical landmarks for registration, then the registration accuracy is improved, but the surgical invasiveness and complexity increase
Solution Approach 1:
The patent extracts and eliminates the need for fiducial markers from the registration process. By using a flat-surfaced probe for direct surface matching registration, the system achieves accurate registration without requiring attachment of external markers, thereby reducing surgical invasiveness while maintaining registration accuracy.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system enhances the accuracy and precision of computer-assisted surgeries by defining a target region, sampling points, and validating mechanical contacts, thereby improving the registration process and surgical outcomes.
Implementation Method 1
a force sensor for detecting force and/or torque sustained by the tool
Data Source
AI summary
A surgery assistive system includes an instrument having a tool and a manipulator connected to the tool, a spatial sensor system for detecting spatial information of the tool, and a computer system for manipulating a kinematic state of the manipulator. A method for obtaining surface information by the surgery assistive system includes the steps of: defining a target region and a plurality of reference points on a virtual anatomical model of a subject; prompting a user to generate sampling information by using the instrument to sample a plurality of sampling points on the subject corresponding to the reference points; and designating the sampling information as surface information of the sampling points. Each piece of the sampling information includes a coordinate of one of the sampling points, an angle of a contact of the tool at the sampling point, and parameters associated with the contact.