Sensor-Enabled Prosthesis Alignment in Robotic Arthroplasty
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Solution Overview
Problem
Sensor-enabled orthopedic implants face challenges in accurately aligning their output with the patient's anatomy due to misalignment and imperfections during arthroplasty procedures, leading to skewed data and potential inaccuracies in kinematic movement tracking.
Innovation Solution
The use of robotic surgical systems with optical tracking and augmented reality to register the sensor module's output with the anatomical frame of reference, allowing for precise alignment and correction of sensor data to match the patient's anatomy, utilizing a surgical robot, tracking system, and sensor-enabled implants to ensure accurate data correlation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensor module is implanted in prosthetic device, then motion tracking capability is provided, but misalignment between sensor output and anatomical frame of reference occurs leading to inaccurate data
Solution Approach 1:
The patent applies preliminary action by establishing the anatomical frame of reference using optical tracking arrays attached to bone landmarks before implanting the sensor module. The robotic system pre-determines the transformation matrix between the anatomical and sensor coordinate systems, allowing the sensor to be implanted in any orientation while maintaining accurate kinematic tracking through post-implantation calibration.
Solution Approach 2:
The patent changes the parameter representation by using a transformation matrix that maps sensor output from its local coordinate system to the anatomical frame of reference. This mathematical transformation allows the sensor data to be accurately interpreted regardless of the physical orientation of the sensor module within the prosthetic device.
2Measurement precision
If post-operative calibration is performed to correct misalignment, then sensor accuracy can be improved, but time delay and multiple recalibration attempts are required
Solution Approach 1:
The patent implements feedback by using the optical tracking system to monitor the position and orientation of the prosthetic device relative to the anatomical frame of reference during implantation. This real-time feedback allows the surgical system to calculate the appropriate transformation matrix and verify sensor alignment immediately, eliminating the need for delayed post-operative calibration.
Solution Approach 2:
The patent replaces mechanical alignment procedures with an optical tracking and computational approach. Instead of physically adjusting the sensor module to achieve precise alignment, the system uses optical markers and mathematical transformations to achieve accurate kinematic tracking regardless of the sensor's physical orientation.
3Manufacturing precision
If robotic surgical system with optical tracking is used to align sensor module, then alignment accuracy is improved, but device complexity increases
Solution Approach 1:
The patent applies universality by using the optical tracking system for multiple purposes: tracking bone landmarks to establish the anatomical frame of reference, tracking the prosthetic device during implantation, and tracking the sensor module to determine its orientation. This multi-functional approach eliminates the need for separate alignment devices while achieving precise sensor positioning.
Solution Approach 2:
The patent introduces an intermediary coordinate system transformation matrix that bridges the anatomical frame of reference and the sensor module's local coordinate system. This mathematical intermediary allows the complex robotic system to communicate sensor positions and orientations accurately without requiring direct physical alignment between components.
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
This approach enhances the accuracy of sensor data alignment, reduces errors, and provides real-time feedback on the effectiveness of the implant, improving the precision and reliability of arthroplasty procedures by ensuring sensor output reflects the patient's kinematic movements.
Implementation Method 1
The surgical system can utilize an optical tracking system that can track the location and position of tracking arrays attached to various objects, such as instruments, anatomy and the robotic surgical arm.
Data Source
AI summary
A method for registering output of sensor-enabled implants with a bone axis during robotically-assisted arthroplasty procedures comprises registering anatomy of a patient to a surgical tracking system, determining a bone axis of a bone of the anatomy using the surgical tracking system, preparing the bone to receive a prosthetic implant including an orientation sensor, inserting the prosthetic implant into the bone, obtaining orientation output from the orientation sensor, and shifting the orientation output from the orientation sensor to align with the bone axis. A system for registering output of sensor-enabled implants with a bone axis during robotically-assisted arthroplasty procedures comprises a surgical robot comprising an arm configured to move within a coordinate system, a tracking system configured determine locations of one or more trackers in the coordinate system, a sensor-enabled implant configured to implanted into anatomy and output orientation data, and a controller for the surgical robot.