Coordinate Registration for Robotic 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, which can hinder efficient navigation during surgical operations.
Innovation Solution
A method is developed to dynamically register a robotic coordinate system to an image coordinate system, allowing for indirect registration to a navigation coordinate system without separate registration to the image space, utilizing a dynamic reference tracking device and snapshot tracking system to enhance precision and efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional registration methods are used to register instrument positions between coordinate systems, then registration accuracy can be achieved, but procedural time is significantly increased
Solution Approach 1:
The system performs preliminary registration of the robotic coordinate system to the image coordinate system before the actual surgical navigation. By pre-establishing this coordinate transformation relationship through tracking a reference device at multiple positions, the system eliminates the need for time-consuming registration operations during the surgical procedure, thus reducing procedural time while maintaining registration accuracy
Solution Approach 2:
The patent introduces an image coordinate system as an intermediary between the robotic coordinate system and the navigation coordinate system. Instead of directly registering the robotic system to the navigation system, the image coordinate system serves as a mediator that simplifies the registration process and enables indirect registration, thereby reducing the time required for coordinate system alignment
2Measurement precision
If separate registration to image space is performed, then complete navigation accuracy is achieved, but device complexity and procedural steps are increased
Solution Approach 1:
The patent merges the registration of the robotic coordinate system and the navigation coordinate system by using a common image coordinate system as the reference. Instead of performing separate registration operations for each coordinate system, the system combines them into a unified registration process, simplifying the overall procedure while maintaining complete navigation accuracy
Solution Approach 2:
The image coordinate system serves multiple functions simultaneously: it acts as a reference for both the robotic coordinate system and the navigation coordinate system, enabling indirect registration for both systems. This multi-functional approach reduces the number of registration steps required while ensuring complete navigation accuracy
Data Source
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AI summary
Disclosed is a method to form a dynamic array with a trackable member, comprising: removably fixing a robotic system in a volume; moving a trackable member with a moveable portion of the robotic system to a first position; moving the trackable member with the moveable portion of the robotic system to a second position; performing a navigation system tracking by (i) tracking the first position of the trackable member with a navigation system in a navigation coordinate system and (ii) tracking the second position of the trackable member with the navigation system in the navigation coordinate system; performing a robotic system tracking by (i) tracking the first position with a robotic tracking system in a robotic coordinate system separate from the navigation system and (ii) tracking the second position with the robotic tracking system in the robotic coordinate system; defining a virtual array with the trackackable member by moving the trackable member between the first position and a second position; and correlating the navigation system tracking and the robotic tracking system.