Intraoperative Reference Frame Re-registration via Robotic Imaging
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Solution Overview
Problem
Current surgical navigation systems face challenges in maintaining accurate registration between a patient's coordinate space and other coordinate spaces, especially when the reference frame is moved intraoperatively, requiring lengthy and expensive re-registration procedures and exposing patients and staff to ionizing radiation.
Innovation Solution
A method and system for intraoperative re-registration that involves capturing images of a reference frame in different poses using an imaging device mounted on a robotic arm, and updating the registration between the reference frame and the patient to reflect the change in pose, without the need for additional imaging or manual registration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional manual re-registration procedures are used when the reference frame is moved intraoperatively, then registration accuracy can be maintained, but the procedure time increases and ionizing radiation exposure occurs
Solution Approach 1:
The patent replaces manual mechanical re-registration procedures with an automated optical imaging system. The imaging device mounted on the robotic arm captures images of the reference frame and automatically calculates pose changes, eliminating the need for time-consuming manual re-registration while maintaining registration accuracy.
Solution Approach 2:
The patent introduces an imaging device as an intermediary between the reference frame and the registration system. This imaging device captures visual information of the reference frame's pose and transmits it to the system, which automatically updates the registration, thereby avoiding direct manual intervention and radiation exposure.
2Measurement precision
If traditional manual re-registration procedures are used when the reference frame is moved intraoperatively, then registration accuracy can be maintained, but the cost and complexity increase
Solution Approach 1:
The imaging device mounted on the robotic arm serves multiple functions: it captures images of the reference frame for pose determination, tracks the reference frame's position, and provides visual feedback for the registration system. This multi-functionality reduces the need for separate dedicated re-registration equipment, thereby controlling system complexity.
Solution Approach 2:
The system performs self-service by automatically calculating the reference frame's pose changes from captured images and updating the registration without requiring external manual intervention. The robotic arm and imaging device work together autonomously to maintain registration accuracy, reducing operational complexity.
3Ease of operation
If the reference frame is moved intraoperatively to improve accessibility during surgery, then surgical ease is improved, but registration accuracy is compromised
Solution Approach 1:
The patent implements a dynamic registration system that can adapt to reference frame movements. The imaging device continuously captures the reference frame's new pose, and the system automatically recalculates the registration parameters, allowing the reference frame to be moved for surgical accessibility while maintaining registration accuracy throughout the procedure.
Data Source
AI summary
A re-registration method includes receiving a first image depicting a reference frame attached to a patient and oriented in a first pose relative to the patient, the first image obtained by an imaging device mounted to a movable support that has been locked in a selected pose; receiving a second image depicting the reference frame oriented in a second pose relative to the patient, the second image obtained by the imaging device with the movable support locked in the selected pose; and updating a registration between the reference frame and the patient to reflect that the reference frame has been moved from the first pose to the second pose.