Registration Frame Apertures for Surgical Navigation Pose Tracking
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Solution Overview
Problem
Existing surgical navigation systems face challenges in accurately registering image space to patient space, particularly in representing instruments in patient space within image data.
Innovation Solution
The use of a registration frame with apertures, tracked in both patient and image spaces, allows for the computation of a transform that maps the instrument's pose in patient space to its corresponding pose in image space, enabling accurate representation of instruments within image data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional registration methods are used without apertures, then the device complexity is reduced, but the measurement precision of instrument pose registration deteriorates
Solution Approach 1:
The registration frame incorporates apertures at specific locations to enable precise tracking of instrument poses. These apertures are strategically positioned to provide sufficient feature points for accurate registration while maintaining an otherwise simple frame structure. The apertures create localized regions of interest that improve measurement precision without requiring complex overall device architecture.
Solution Approach 2:
The apertures act as intermediary features that bridge the registration frame and the imaging system. By providing distinct, detectable openings in the registration frame, the apertures enable the system to establish accurate correspondences between image space and patient space, thereby improving instrument pose registration accuracy through a simple geometric feature rather than complex tracking mechanisms.
2Measurement precision
If apertures are added to the registration frame, then the measurement precision improves, but the ease of manufacture deteriorates
Solution Approach 1:
The registration frame is segmented into distinct components including the frame structure and the apertures. This segmentation allows for modular manufacturing where the frame can be produced using standard fabrication processes, and the apertures can be added as separate features through techniques such as drilling, laser cutting, or 3D printing. This approach maintains ease of manufacture while achieving the required precision.
Solution Approach 2:
The apertures are designed with specific parameters (size, shape, location) that can be optimized for both manufacturing ease and registration precision. By controlling these parameters, the system achieves accurate instrument pose registration while keeping the manufacturing process simple and cost-effective. The aperture dimensions and positions are selected to provide sufficient feature points without complicating fabrication.
Data Source
AI summary
Systems and methods for performing registration between a patient space and an image space are disclosed herein. Systems using such methods may identify a pose of a registration frame having one or more apertures within the patient space using a tracking system. Image data corresponding to the image space having an image of the registration frame is taken. A plurality of aperture locations within the image data (corresponding to the apertures of the registration frame) are identified in the image data. Aperture representations from a model of the registration frame are matched to these aperture locations to determine a pose of the registration frame within the image space. A transform between the patient space and the image space is generated based on the pose of the registration frame within the patient space and the pose of the registration frame within the image space. Optimization methods for this transform are discussed.