Robotic Surgery Pathway Alignment via 3D Optical Registration

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Solution Overview

Problem

Conventional methods for determining points on an operation pathway in robotic surgery rely on fiducial marks, which have adoption issues and may not accurately align patient anatomy with planned surgical routes, potentially causing damage and inefficiency.

Innovation Solution

A system using artificial intelligence to plan optimal operation pathways based on medical image scans, combined with three-dimensional optical apparatuses for image processing and coordinate transformation, allowing precise alignment of robotic arms with the patient's anatomy to minimize physical damage and ensure accurate surgical access.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If conventional fiducial marks (glued or screwed in) are used for alignment, then the operation pathway can be planned, but the alignment accuracy is insufficient and adoption is problematic

Engineering Contradiction:

Improvealignment accuracyVSAvoidadoption ease

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

The patent replaces mechanical fiducial marks (glued or screwed in markers) with an optical/image-based registration system. The system uses medical image scans (CT or MRI) to create a three-dimensional model of patient anatomy, then employs image processing and coordinate transformation to align the robotic arm with the planned operation pathway. This substitution eliminates the need for physical fiducial marks while improving alignment accuracy through precise image-based anatomical landmark identification and coordinate system transformation.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Reliability

If fiducial marks are used for pathway alignment, then operation planning is possible, but tissue damage may occur due to inaccurate alignment

Engineering Contradiction:

Improveoperation safetyVSAvoidtissue damage

Core Design Contradiction:

ReliabilityVSObject-affected harmful factors

Solution Approach 1:

The patent replaces mechanical fiducial marks with an optical/image-based registration system that uses medical image scans to create a three-dimensional model of patient anatomy. This system identifies anatomical landmarks and performs coordinate transformation to precisely align the robotic arm with the planned operation pathway, eliminating inaccurate alignment that could cause tissue damage while improving operation safety through image-guided precision.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent creates a digital copy of the patient's anatomy through medical image scanning and three-dimensional modeling. This virtual model is then used for operation pathway planning and alignment without requiring physical fiducial marks on the patient's body. The coordinate transformation system maps points from the medical image coordinate system to the robotic arm coordinate system, enabling precise guidance while avoiding tissue damage associated with physical markers.

Inventive Principle:

Principle #26Copying

3Measurement precision

If three-dimensional optical apparatus and coordinate transformation are used, then precise alignment is achieved, but device complexity increases

Engineering Contradiction:

Improvealignment precisionVSAvoidsystem complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent integrates multiple functions into a unified system: the medical image scanner serves both diagnostic and registration purposes, the three-dimensional modeling software performs both visualization and coordinate system definition, and the robotic arm system incorporates both surgical execution and alignment verification. This multi-functionality reduces the need for separate dedicated devices while maintaining high alignment precision through coordinated transformation of coordinates between medical image space and robotic arm space.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS11648066B2Method and system of determining one or more points on operation pathway

Publication Date: 2023.05.16 BRAIN NAVI BIOTECH CO LTD

AI summary

Embodiments of the present invention set forth a method to drive robotic arm to one or more points on an operation pathway. The method includes constructing a three-dimensional model based on a medical image scan of a patient, planning an operation pathway according to the three-dimensional model, retrieving image information of the patient captured by a three-dimensional optical apparatus, selecting a first set of landmark points in the three-dimensional model, selecting a second set of landmark points in the retrieved image information, matching the first set of landmark points with the second set of landmark points, transforming coordinates from a three-dimensional model coordinate system to a three-dimensional optical apparatus coordinate system based on a result of the matching, and driving the robotic arm to the one or more points on the operation pathway in a robotic arm coordinate system.